diff --git a/actions/locomotion_primitives/P33/session_022/cameras/slam.npz b/actions/locomotion_primitives/P33/session_022/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a15061f6466a683394700907b8525c8f3dd6a9f
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_022/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_022/meta.json b/actions/locomotion_primitives/P33/session_022/meta.json
index 1b1263275616f8c302473b37bb70abe6295f2b99..ba024fcf591036ae87bfb34d606e6e50970085b8 100644
--- a/actions/locomotion_primitives/P33/session_022/meta.json
+++ b/actions/locomotion_primitives/P33/session_022/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -523,10 +523,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0620047126859524
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 8.47,
+    "offset_rotvec": [
+     0.0781,
+     0.0373,
+     -0.1199
+    ],
+    "dev_deg": {
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+     "p90": 28.84
+    },
+    "samples": 3003,
+    "accepted": 2734,
+    "wrist_pos_err_mm_median": 43.2,
+    "per_camera": {
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+      "accepted": 2734,
+      "gate_deg": 30.0,
+      "offset_deg": 8.47,
+      "tier": "primary",
+      "dev_deg_median": 12.46,
+      "wrist_pos_err_mm_median": 43.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 4522,
+     "mean_hand": 369,
+     "no_body_fit": 7
+    },
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+    "observed_fraction_of_valid": 0.977,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.84,
+     "smplx": 0.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.9,
+      "p90": 12.0
+     },
+     "registered": {
+      "median": 8.2,
+      "p90": 9.9
+     }
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+    "accepted": 2054,
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+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T20:13:43.623862+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_022",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260914/P33/20260914_100834_session4"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_022/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..18aeca145b0fbbc3df85946afc23a4734035d86b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_022/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7412f4587afedfe60aa656b0cbe18e84c0c2740b0e871c4baacc995384653b04
+size 3780585
diff --git a/actions/locomotion_primitives/P33/session_022/motions/smplx.npz b/actions/locomotion_primitives/P33/session_022/motions/smplx.npz
index 2f1d90109d138b367de3967e21e4469acf86d139..aa5302645d31f47c6f0b03678660912ba67cc4c4 100644
--- a/actions/locomotion_primitives/P33/session_022/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_022/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 6142981
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diff --git a/actions/locomotion_primitives/P33/session_023/annotations.json b/actions/locomotion_primitives/P33/session_023/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd4c9e7d866292dee04a03961342946eb86b3cbc
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_023/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03862234274234222
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8afacbad-2d7c-4c4b-875a-529834ddf923",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
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+   "end_s": 128.664,
+   "t_start": 0.0386,
+   "t_end": 128.7026,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_023/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2116fb50457115de4007f7b48572cc64afcbe94c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_023/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.385
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "gate_fail": [],
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+   "inliers": 2422,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.2962,
+    -0.658
+   ],
+   "split_deg": 0.02,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+    -9.16,
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+   "position_split_mm": 1.627,
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+    0.5852,
+    -1.7461
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+   "split_deg": 0.0495,
+   "usable": true
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+  "left_front": {
+   "role": "rig origin"
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+   "against": [
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+    "left_eye",
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+    -0.2447,
+    -0.0746
+   ],
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -8.6,
+    4.15
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+    -0.4277
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+   "split_deg": 0.0445,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "right_eye",
+    "left",
+    "right"
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+    -0.0739,
+    -1.3163
+   ],
+   "split_deg": 0.0152,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "sha256": "089e51bbc59bf2e140b74fda57c45400770e163c5eba46af5425754d32dc20fc",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "833a0ed1b3ffd10a",
+ "kind": "online_calibration",
+ "output_sha256": "4b598a72421564dc564f9feff22d6cb18fefde8657e50312cf3ddb097212da53",
+ "overlap": {
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+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
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+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_front": 40.131,
+  "right": 38.298,
+  "right_eye": 34.41,
+  "right_front": 38.439
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_023/cameras/slam.npz b/actions/locomotion_primitives/P33/session_023/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..daed7f5fe4e5bfb322721f5db33d41394f4de154
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_023/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c32d9218872413dc72d3c362bd706b83fab0f9738827df58279f540bae0bafc
+size 772930
diff --git a/actions/locomotion_primitives/P33/session_023/meta.json b/actions/locomotion_primitives/P33/session_023/meta.json
index 63fd01b2ef957cdd17c2839b3458f72fddb734cd..ba59964cfdcb84f9cf824b86b5bbaca74cffe6c6 100644
--- a/actions/locomotion_primitives/P33/session_023/meta.json
+++ b/actions/locomotion_primitives/P33/session_023/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0591081444676178
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     0.0491,
+     -0.108
+    ],
+    "dev_deg": {
+     "median": 14.56,
+     "p90": 33.5
+    },
+    "samples": 2859,
+    "accepted": 2426,
+    "wrist_pos_err_mm_median": 57.4,
+    "per_camera": {
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+      "accepted": 2426,
+      "gate_deg": 30.0,
+      "offset_deg": 6.88,
+      "tier": "primary",
+      "dev_deg_median": 14.56,
+      "wrist_pos_err_mm_median": 57.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9992,
+     "interpolated": 5666,
+     "mean_hand": 426,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9735,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.37,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 6.3,
+      "p90": 7.0
+     },
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+      "p90": 8.6
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+    "offset_rotvec": [
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+     -0.164,
+     0.0757
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+     "p90": 50.09
+    },
+    "samples": 2311,
+    "accepted": 1709,
+    "wrist_pos_err_mm_median": 84.6,
+    "per_camera": {
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+      "samples": 2311,
+      "accepted": 1709,
+      "gate_deg": 30.0,
+      "offset_deg": 15.96,
+      "tier": "primary",
+      "dev_deg_median": 12.1,
+      "wrist_pos_err_mm_median": 84.6
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6698,
+     "mean_hand": 2344,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8543,
+    "observed_fraction_of_valid": 0.8543,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.0
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 7.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:25:53.440899+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260914/P33/20260914_101058_session5"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_023/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8cd654717cdadc5783e0664262de1a94302c9e28
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_023/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3567748
diff --git a/actions/locomotion_primitives/P33/session_023/motions/smplx.npz b/actions/locomotion_primitives/P33/session_023/motions/smplx.npz
index 05d5a582dd4fce0816847ed5b30d2b0a7aceef21..3030354e73ab0825d3a55f523d8db9f707714116 100644
--- a/actions/locomotion_primitives/P33/session_023/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_023/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_024/annotations.json b/actions/locomotion_primitives/P33/session_024/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..311d2ca610724db0cfb51269ecfbe3ed7d54a73a
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_024/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03858057801397341
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f4a52265-feaa-4c5f-9f97-cc346f627a4f",
+   "segment": "segment1",
+   "action": "P33",
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+   "end_s": 127.815,
+   "t_start": 0.0386,
+   "t_end": 127.8536,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_024/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..27de093222001a0d329f4fbc50fb19838ceb7076
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_024/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.376
+ },
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+   "accepted": true,
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+    "right_front",
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+    -0.3045,
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+   ],
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+   "usable": true
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+    "left_front",
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+    0.5497,
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+   ],
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+   "role": "rig origin"
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+    "right_front",
+    "left_eye",
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+    1.1866,
+    -0.3866,
+    -0.1634
+   ],
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+   "usable": true
+  },
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+    "left_eye",
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+    0.99
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+    0.4053,
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+  },
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+    "right_eye",
+    "left",
+    "right"
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+   "rotvec_deg": [
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+    -0.0169,
+    -1.2994
+   ],
+   "split_deg": 0.0065,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "492bd2aceacee14dd1b3a97c17b610b86bb00ef4c92214d61c715c668b17e124",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e9f0d1cc8ebb71eff685056f56b08bd4a938c4b718bc08a16b1621c10dcb833e",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ef1c21576c7f42d6eed28fea1a79602ab55263cc1e35b8b84d9d0f85eb44ab89",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "1a46e4b73f922b2907c0ac347ed355c87df75841fb15da29eca24b4ea52cc2b6",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "9c2c38c7be0f6e2e",
+ "kind": "online_calibration",
+ "output_sha256": "cda9687d9bbd94fda3b8af9a5e8709c18c933083978c4e5004938bf7312478cc",
+ "overlap": {
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+  "left_front-right_front": 1.0,
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+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 31.222,
+  "left_front": 39.561,
+  "right": 39.015,
+  "right_eye": 30.299,
+  "right_front": 39.176
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_024/cameras/slam.npz b/actions/locomotion_primitives/P33/session_024/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7d7368370a90766b871c78ae645b88070e9839cf
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_024/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33e9439bbb242800bb31fcdb91c732a961967f1556f491a01f4a5b5c3fc01be
+size 772764
diff --git a/actions/locomotion_primitives/P33/session_024/meta.json b/actions/locomotion_primitives/P33/session_024/meta.json
index ce8f09ce560d8f957541edc1f7b07837ec52bb1c..a597541347fc67fa39c59b07303481c56de09523 100644
--- a/actions/locomotion_primitives/P33/session_024/meta.json
+++ b/actions/locomotion_primitives/P33/session_024/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2057442056271734
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.023,
+     0.0606,
+     -0.1151
+    ],
+    "dev_deg": {
+     "median": 11.99,
+     "p90": 31.26
+    },
+    "samples": 3034,
+    "accepted": 2688,
+    "wrist_pos_err_mm_median": 46.9,
+    "per_camera": {
+     "head": {
+      "samples": 3034,
+      "accepted": 2688,
+      "gate_deg": 30.0,
+      "offset_deg": 7.57,
+      "tier": "primary",
+      "dev_deg_median": 11.99,
+      "wrist_pos_err_mm_median": 46.9
+     }
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+    "frames_by_state": {
+     "ace_sample": 10972,
+     "interpolated": 4808,
+     "mean_hand": 304,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9811,
+    "observed_fraction_of_valid": 0.9811,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.53,
+     "smplx": 0.57
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 9.3,
+      "p90": 13.2
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+     "registered": {
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+      "p90": 11.0
+     }
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+     "p90": 48.12
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+    "accepted": 2041,
+    "wrist_pos_err_mm_median": 66.8,
+    "per_camera": {
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+      "accepted": 2041,
+      "gate_deg": 30.0,
+      "offset_deg": 15.21,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 66.8
+     }
+    },
+    "frames_by_state": {
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+     "mean_hand": 1540,
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+    "observed_fraction_of_valid": 0.9043,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.2,
+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.1,
+      "p90": 6.9
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 8.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:21:49.428268+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_024",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260914/P33/20260914_101321_session6"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_024/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8857b8a82746e1745ec5aef8445f5270c557a814
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_024/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6f59ba1829976d282a6a34193f0156975b42072c13fa7142021a3876f50d82d
+size 3847663
diff --git a/actions/locomotion_primitives/P33/session_024/motions/smplx.npz b/actions/locomotion_primitives/P33/session_024/motions/smplx.npz
index a5a935b5ea54e92d6b54d6f8af01dd98fba96d74..0fe27a790ade13ed00cf36c1af51a261ca4518c1 100644
--- a/actions/locomotion_primitives/P33/session_024/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_024/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_025/annotations.json b/actions/locomotion_primitives/P33/session_025/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5b3b281a4afb2f5e7d0b3e9a9083006a0e3ce4
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_025/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03848326876559227
+  }
+ ],
+ "episodes": [
+  {
+   "id": "34c94564-d43e-4c9d-a7a0-e1b40fdfa380",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 123.862,
+   "t_start": 0.0385,
+   "t_end": 123.9005,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_025/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_025/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab8a735f91484dc241e1a71a8084874d6286446
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_025/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.367
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 0.8991,
+   "gate_fail": [],
+   "held_out_px_after": 0.481,
+   "held_out_px_before": 3.963,
+   "inliers": 2374,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4692,
+    -0.3109,
+    -0.7011
+   ],
+   "split_deg": 0.0584,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9152,
+   "gate_fail": [],
+   "held_out_px_after": 0.398,
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+    "left_eye",
+    "right_eye",
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+    -0.4867
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
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+    "right"
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  }
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
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+  "right": 37.256,
+  "right_eye": 28.788,
+  "right_front": 38.226
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_025/cameras/slam.npz b/actions/locomotion_primitives/P33/session_025/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eae68ca464aa7ee8e06997a0f5f504ccd8caa448
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_025/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33fd9cc3b21b0bbbcbe214f943275dfeb32811b33da1ca866ff375e87b7eb07
+size 744865
diff --git a/actions/locomotion_primitives/P33/session_025/meta.json b/actions/locomotion_primitives/P33/session_025/meta.json
index 85fb92ee2b980e2fec1d043be80946a53edd511e..205a5839cd3b85d66e60666c588c3478dcc22ea5 100644
--- a/actions/locomotion_primitives/P33/session_025/meta.json
+++ b/actions/locomotion_primitives/P33/session_025/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9241694453569232
  },
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+  "cameras": {},
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+    },
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+    "per_camera": {
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+      "accepted": 2540,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 47.1
+     }
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+     "interpolated": 4548,
+     "mean_hand": 504,
+     "no_body_fit": 22
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+    "observed_fraction_of_valid": 0.9674,
+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+     }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T19:22:15.030263+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260914/P33/20260914_101547_session7"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_025/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_025/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..838244b3b69ae772233da407a1f8e29fd7b0eb32
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_025/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e803cb53c95a2b87606b1cc21c570b91e1e771f596921f43787394209659092
+size 3537867
diff --git a/actions/locomotion_primitives/P33/session_025/motions/smplx.npz b/actions/locomotion_primitives/P33/session_025/motions/smplx.npz
index d81dfd1203a81dc7ed516f91339ed32e4dbab245..4335af86cd15893b01d8ca425c5f9a2c27eb0378 100644
--- a/actions/locomotion_primitives/P33/session_025/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_025/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5917979
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diff --git a/actions/locomotion_primitives/P33/session_026/annotations.json b/actions/locomotion_primitives/P33/session_026/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdc8210eec47934508416f9d962ec0e3387fbbe3
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_026/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966722,
+   "video": "left_eye",
+   "video_t_start": 0.03877828751300272
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dd6002e7-7204-4de0-8957-30894a05d483",
+   "segment": "segment1",
+   "action": "P33",
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+   "t_start": 0.0388,
+   "t_end": 127.2138,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_026/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_026/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a533fa5b78f17ad2a1a5757af51d7b7db2e1b130
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_026/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.367
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
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+   ],
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+   "usable": true
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+   "against": [
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+    "right_front",
+    "right_eye",
+    "left",
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+   "inliers": 3471,
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+    6.19
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+    0.5666,
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+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
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+ },
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+ "output_sha256": "9db71d90f9269502df19e790ae577d9f5bbb57bf4ad03d8fc29fc292e4d79f97",
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diff --git a/actions/locomotion_primitives/P33/session_026/cameras/slam.npz b/actions/locomotion_primitives/P33/session_026/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7abdddcc375043f55cbc95e7c4422961108c0135
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_026/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_026/meta.json b/actions/locomotion_primitives/P33/session_026/meta.json
index e295e0dd2717e0ca571a860ae9ae202c024822d1..d7742d39206b637260070cbd1dffa43f6c0e2645 100644
--- a/actions/locomotion_primitives/P33/session_026/meta.json
+++ b/actions/locomotion_primitives/P33/session_026/meta.json
@@ -326,8 +326,8 @@
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@@ -511,10 +511,124 @@
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  }
 }
diff --git a/actions/locomotion_primitives/P33/session_026/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_026/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_027/annotations.json
@@ -0,0 +1,28 @@
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+}
diff --git a/actions/locomotion_primitives/P33/session_027/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_027/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ddd19b134f8bea1aa13897f1b23ef4fa7e15fe
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_027/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
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diff --git a/actions/locomotion_primitives/P33/session_027/cameras/slam.npz b/actions/locomotion_primitives/P33/session_027/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ba5cb7413e35ac01cec267b7a548e9aed74327f
--- /dev/null
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@@ -0,0 +1,3 @@
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index 8aa6db42623bcd409f02c05805c95eedf5475151..64e20edc95def8a6d8b59944c99ef3d19ba47dad 100644
--- a/actions/locomotion_primitives/P33/session_027/meta.json
+++ b/actions/locomotion_primitives/P33/session_027/meta.json
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@@ -522,10 +522,124 @@
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+     "no_body_fit": 6
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+    },
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+      "median": 9.3,
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+     },
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+     }
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+    },
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+     },
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+     }
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+  },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:27:49.422220+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_027",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260914/P33/20260914_102155_session10"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_027/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_027/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fbe85ac9498a6508f6b9893996ad4fc81d513ccb
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_027/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3653817
diff --git a/actions/locomotion_primitives/P33/session_027/motions/smplx.npz b/actions/locomotion_primitives/P33/session_027/motions/smplx.npz
index 1bb9129fca323015d57ad8fba33045c108004068..278b98e3d50b43e33d7c73c88028f53dd76d8b02 100644
--- a/actions/locomotion_primitives/P33/session_027/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_027/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_028/annotations.json b/actions/locomotion_primitives/P33/session_028/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe41dc5035ae015805398731feaddef06799b1b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_028/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.039280835877279596
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8f0f868f-e187-4245-8478-e0c7e7b846bd",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
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+   "end_s": 126.781,
+   "t_start": 0.0393,
+   "t_end": 126.8203,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_028/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_028/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b745fd8a353fc53027f2a2141553007a2ce81979
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_028/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.376
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
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+    "right_eye"
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+    -0.2976,
+    -0.6548
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+   "split_deg": 0.0707,
+   "usable": true
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+    "left_front",
+    "right_front",
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+    "left",
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+   "position_split_mm": 1.836,
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+    0.2177,
+    0.6105,
+    -1.8058
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+   "split_deg": 0.0329,
+   "usable": true
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+   "role": "rig origin"
+  },
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    1.1066,
+    -0.2849,
+    -0.2392
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8155,
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+   "position_mm": [
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+    -9.96,
+    3.66
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+   "position_split_mm": 1.891,
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+    0.4517,
+    -0.4885,
+    -0.4717
+   ],
+   "split_deg": 0.0177,
+   "usable": true
+  },
+  "right_front": {
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+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 4.639,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3976,
+    -0.0078,
+    -1.2958
+   ],
+   "split_deg": 0.0082,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b9b1dc3759f49e237990534af51f43d3babe28858e27cbcc75907e103651ef0b",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e50d22453039c09ab5aae9f92fd07e4d53556bd2f3e9431a380fa48e45721d49",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "36bf8fe972c78d0f99705f7d5c762b02d5bf30084a2da1571fce1e98278eaa55",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "ad07e556d659073d1bd8c66207045c7aa06eaf44170f27bb03026fac7b55a416",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "66d2740e5ddbb982",
+ "kind": "online_calibration",
+ "output_sha256": "5ee22c972348060e8a2085ecd48da110e0d90a8c71c72ef3eb64595036dab214",
+ "overlap": {
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+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.244,
+  "left_eye": 35.172,
+  "left_front": 47.984,
+  "right": 34.254,
+  "right_eye": 33.267,
+  "right_front": 46.112
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_028/cameras/slam.npz b/actions/locomotion_primitives/P33/session_028/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a669c68128e4d6247c5fd33d4434307b969fddd0
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_028/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af390f8e7722deba66a87da1fb190646ecdf6257ed4f66b2d39a7ffcbed1bb60
+size 772046
diff --git a/actions/locomotion_primitives/P33/session_028/meta.json b/actions/locomotion_primitives/P33/session_028/meta.json
index 3a3009bc4c8f758fbde8998a2a15706b99d7e67e..75b73122a8fdcdf1d2404bde9c488101895bb11e 100644
--- a/actions/locomotion_primitives/P33/session_028/meta.json
+++ b/actions/locomotion_primitives/P33/session_028/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.031180095500352
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
+     0.0401,
+     0.0563,
+     -0.0951
+    ],
+    "dev_deg": {
+     "median": 15.61,
+     "p90": 32.97
+    },
+    "samples": 3035,
+    "accepted": 2639,
+    "wrist_pos_err_mm_median": 48.8,
+    "per_camera": {
+     "head": {
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+      "accepted": 2639,
+      "gate_deg": 30.0,
+      "offset_deg": 6.73,
+      "tier": "primary",
+      "dev_deg_median": 15.61,
+      "wrist_pos_err_mm_median": 48.8
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 4900,
+     "mean_hand": 377,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.9764,
+    "observed_fraction_of_valid": 0.9766,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.39,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.4,
+      "p90": 15.9
+     },
+     "registered": {
+      "median": 11.1,
+      "p90": 14.1
+     }
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+     -0.1396,
+     0.1177
+    ],
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+     "p90": 41.91
+    },
+    "samples": 2465,
+    "accepted": 2022,
+    "wrist_pos_err_mm_median": 57.6,
+    "per_camera": {
+     "head": {
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+      "accepted": 2022,
+      "gate_deg": 30.0,
+      "offset_deg": 14.03,
+      "tier": "primary",
+      "dev_deg_median": 10.87,
+      "wrist_pos_err_mm_median": 57.6
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6156,
+     "mean_hand": 1617,
+     "no_body_fit": 3
+    },
+    "observed_fraction": 0.8993,
+    "observed_fraction_of_valid": 0.8994,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.75,
+     "smplx": 0.87
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 6.3
+     },
+     "registered": {
+      "median": 7.1,
+      "p90": 9.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:23:55.334982+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_028",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260914/P33/20260914_102630_session12"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_028/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_028/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1887e7ec08e0b23828c63194d76a265b5cd1d72c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_028/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe440cb2a328f92fdcf19455eedba0e0cc420fb5397f68187d855e96de799dc1
+size 3775422
diff --git a/actions/locomotion_primitives/P33/session_028/motions/smplx.npz b/actions/locomotion_primitives/P33/session_028/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_028/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_028/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_029/annotations.json b/actions/locomotion_primitives/P33/session_029/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f6e1d435c73a4336e88d7b39d06ef05f490ad2
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_029/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966567,
+   "video": "left_eye",
+   "video_t_start": 0.038902784657898426
+  }
+ ],
+ "episodes": [
+  {
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+   "action": "P33",
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+   "end_s": 125.007,
+   "t_start": 1.2909,
+   "t_end": 125.0459,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_029/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_029/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..722e10e4294cf9a5d4e7416ff36a6424d53d800a
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_029/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.377
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+    -0.8358
+   ],
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+   "usable": true
+  },
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+    "left_front",
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+    "right_eye",
+    "left",
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+    0.6052,
+    -1.8631
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.0723
+   ],
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+  },
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+    "left_eye",
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+    -0.4859
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+  },
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "sha256": "95a08dd78ef8be2c70e62122495f1581217e4ee2dd8e6d1a4420642ce263d840",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "b8d9597edf3ff4f5",
+ "kind": "online_calibration",
+ "output_sha256": "d76987213bed22edb4480be2f12ec09137ac4aa46a307f727e2477b33dc761bc",
+ "overlap": {
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 31.989,
+  "left_front": 38.836,
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+  "right_eye": 29.735,
+  "right_front": 37.677
+ },
+ "runtime": {
+  "numpy": "2.4.6",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_029/cameras/slam.npz b/actions/locomotion_primitives/P33/session_029/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ed2e61b9897c4c52ceae3892908eacdf3cf4904c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_029/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 743414
diff --git a/actions/locomotion_primitives/P33/session_029/meta.json b/actions/locomotion_primitives/P33/session_029/meta.json
index e98b2d6bcd539d0ca4aa6093f0effdc92daf6dd2..82cec5c0af998f8130363b89e3f5a23e79c4d4cd 100644
--- a/actions/locomotion_primitives/P33/session_029/meta.json
+++ b/actions/locomotion_primitives/P33/session_029/meta.json
@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5483466919827307
  },
+ "hands_registration": {
+  "cameras": {},
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+    "accepted": 1958,
+    "wrist_pos_err_mm_median": 55.9,
+    "per_camera": {
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+      "accepted": 1958,
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+      "offset_deg": 16.3,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 55.9
+     }
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+     "interpolated": 7164,
+     "mean_hand": 64,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9959,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.03,
+     "smplx": 0.8
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+    "hand_marker_to_mesh_mm": {
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+    "per_camera": {
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+      "tier": "primary",
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+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:05:16.918813+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_029",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260916/P33/20260916_054701_session90"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_029/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_029/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f29913e916da7abe2dbc4af58980c395e4d3c64f
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_029/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3140203
diff --git a/actions/locomotion_primitives/P33/session_029/motions/smplx.npz b/actions/locomotion_primitives/P33/session_029/motions/smplx.npz
index ad72a643bca46c906ca434ad8233f84e38ef5c1a..50aac904d5bce3e02d0ac5b0333c19a0a4599813 100644
--- a/actions/locomotion_primitives/P33/session_029/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_029/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_030/annotations.json b/actions/locomotion_primitives/P33/session_030/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6ae990e4fe305431170d8ca38311853278c843
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_030/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03897652149637332
+  }
+ ],
+ "episodes": [
+  {
+   "id": "02a5da40-d5e5-4de4-85c9-18477b98499a",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 1.756,
+   "end_s": 127.798,
+   "t_start": 1.795,
+   "t_end": 127.837,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_030/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_030/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d84150605afb34a0fd6e2a234d45c6d073a11f94
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_030/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.354
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9753,
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+   "held_out_px_after": 0.448,
+   "held_out_px_before": 4.335,
+   "inliers": 2625,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.4037,
+    -0.813
+   ],
+   "split_deg": 0.0605,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "position_mm": [
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+    -15.5,
+    5.87
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+    0.0211,
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+  },
+  "right": {
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+    -0.1006
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+  },
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+    -0.5025,
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_030/meta.json b/actions/locomotion_primitives/P33/session_030/meta.json
index 2906796cee35aa494213dcccd89174c5a8b47c55..2aaa2225445b3c7f150cccb896d3140ce5a6dcfc 100644
--- a/actions/locomotion_primitives/P33/session_030/meta.json
+++ b/actions/locomotion_primitives/P33/session_030/meta.json
@@ -329,8 +329,8 @@
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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+}
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..2a16f2fc00bda3bd779fcd99cc8db829e5255be3
--- /dev/null
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diff --git a/actions/locomotion_primitives/P33/session_031/meta.json b/actions/locomotion_primitives/P33/session_031/meta.json
index 46898ad7102d5daae1fff1739c15493b701782f8..f4705f1d151f6566eaa97789a5b0f434051c37b6 100644
--- a/actions/locomotion_primitives/P33/session_031/meta.json
+++ b/actions/locomotion_primitives/P33/session_031/meta.json
@@ -330,8 +330,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_032/annotations.json
@@ -0,0 +1,28 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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diff --git a/actions/locomotion_primitives/P33/session_032/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_032/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb79364d3b116a61798841be8f37e799c89509db
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_032/cameras/gsi_online_calibration.json
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diff --git a/actions/locomotion_primitives/P33/session_032/cameras/slam.npz b/actions/locomotion_primitives/P33/session_032/cameras/slam.npz
new file mode 100644
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--- /dev/null
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index a7748016c547e9bcf2f7662f5cd53848b16d5bfc..59e72d985ea42e87d882e701534654a91aef4dce 100644
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@@ -520,10 +520,124 @@
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:05:14.220563+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_032",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260916/P33/20260916_055433_session93"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_032/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_032/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..90f36cfe7de63836ade3597592a0f2febd63cc32
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_032/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:029b61ca5db3f86476a2fbe7709b33f873ba7674609355da16ac3ac6c2580057
+size 3088032
diff --git a/actions/locomotion_primitives/P33/session_032/motions/smplx.npz b/actions/locomotion_primitives/P33/session_032/motions/smplx.npz
index ae22f01e16db1dcdc34d3488d7628707396a89ee..5b4949eec3f2806bcdf253efd98261e3abec6d62 100644
--- a/actions/locomotion_primitives/P33/session_032/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_032/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5959081
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diff --git a/actions/locomotion_primitives/P33/session_033/annotations.json b/actions/locomotion_primitives/P33/session_033/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2734c8a8d6a304da433526d7221b366e583c6c57
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_033/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966678,
+   "video": "left_eye",
+   "video_t_start": 0.03893241474627995
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a7132e23-0436-4b1a-961c-1d884df21031",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 2.888,
+   "end_s": 130.667,
+   "t_start": 2.9269,
+   "t_end": 130.7059,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_033/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_033/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b91718375de043232bfd7c9fbce4c1d11531a99
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_033/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.377
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0086,
+   "gate_fail": [],
+   "held_out_px_after": 0.512,
+   "held_out_px_before": 4.514,
+   "inliers": 2480,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3997,
+    -0.3654,
+    -0.8509
+   ],
+   "split_deg": 0.0211,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9348,
+   "gate_fail": [],
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+   "held_out_px_before": 5.862,
+   "inliers": 3399,
+   "position_fitted": true,
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+    -12.96,
+    4.69
+   ],
+   "position_sigma_mm": 0.31,
+   "position_split_mm": 2.828,
+   "rotvec_deg": [
+    0.0598,
+    0.6335,
+    -1.8271
+   ],
+   "split_deg": 0.0352,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3015,
+   "gate_fail": [],
+   "held_out_px_after": 0.639,
+   "held_out_px_before": 3.711,
+   "inliers": 1359,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2724,
+    -0.27,
+    -0.0424
+   ],
+   "split_deg": 0.0959,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7744,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 3.34,
+   "inliers": 3279,
+   "position_fitted": true,
+   "position_mm": [
+    7.07,
+    -11.73,
+    5.69
+   ],
+   "position_sigma_mm": 0.288,
+   "position_split_mm": 2.152,
+   "rotvec_deg": [
+    0.3283,
+    -0.5159,
+    -0.4751
+   ],
+   "split_deg": 0.0621,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3629,
+   "gate_fail": [],
+   "held_out_px_after": 0.327,
+   "held_out_px_before": 4.778,
+   "inliers": 5002,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4284,
+    -0.0447,
+    -1.2931
+   ],
+   "split_deg": 0.0142,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d2d5ca5d0d18e9a0c72d1da88739127d8a395bb3d6e280b5b22b5b7f72902957",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "12887b117478c70682c616dd6b174d8274e4df5740967583ad787525d4c50b26",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "440aca1c71fd42a7a3f073a35eb2e1d0f8aa1993778d1b4e8b84899847699723",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "94492e7ea986155ec96e677cc88d40f52427af688024a2a10fa21187688f71aa",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "49e7566f618d7cd9",
+ "kind": "online_calibration",
+ "output_sha256": "444828b7564fbd6e31c956477aa8e57448f5d04c221efd45abba735b5bacc525",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 36.585,
+  "left_eye": 38.808,
+  "left_front": 46.297,
+  "right": 41.866,
+  "right_eye": 39.199,
+  "right_front": 47.141
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   20363258676000,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_033/cameras/slam.npz b/actions/locomotion_primitives/P33/session_033/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a5b2ebf0655e803edf6e4a8d3901211492dad2be
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_033/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e96f0fc4c4a99d637a82c6e7b97d8db25f6184f873b6b2c026292f490fad7acc
+size 800313
diff --git a/actions/locomotion_primitives/P33/session_033/meta.json b/actions/locomotion_primitives/P33/session_033/meta.json
index ea6fd5e1268b91a054abec53278b3433535e2baf..be568f1a302909b65e5fb3007a10d7491da4d5ce 100644
--- a/actions/locomotion_primitives/P33/session_033/meta.json
+++ b/actions/locomotion_primitives/P33/session_033/meta.json
@@ -330,8 +330,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6802761082078407
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.32,
+    "offset_rotvec": [
+     0.3387,
+     -0.079,
+     -0.0698
+    ],
+    "dev_deg": {
+     "median": 17.07,
+     "p90": 35.2
+    },
+    "samples": 2316,
+    "accepted": 1926,
+    "wrist_pos_err_mm_median": 52.9,
+    "per_camera": {
+     "head": {
+      "samples": 2316,
+      "accepted": 1926,
+      "gate_deg": 30.0,
+      "offset_deg": 20.32,
+      "tier": "primary",
+      "dev_deg_median": 17.07,
+      "wrist_pos_err_mm_median": 52.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8034,
+     "interpolated": 7138,
+     "mean_hand": 1512,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9094,
+    "observed_fraction_of_valid": 0.9094,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 29.6,
+     "smplx": 0.92
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.7,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 8.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 16.09,
+    "offset_rotvec": [
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+     0.189,
+     0.1999
+    ],
+    "dev_deg": {
+     "median": 17.74,
+     "p90": 44.69
+    },
+    "samples": 2023,
+    "accepted": 1498,
+    "wrist_pos_err_mm_median": 64.1,
+    "per_camera": {
+     "head": {
+      "samples": 2023,
+      "accepted": 1498,
+      "gate_deg": 30.0,
+      "offset_deg": 16.09,
+      "tier": "primary",
+      "dev_deg_median": 17.74,
+      "wrist_pos_err_mm_median": 64.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6242,
+     "interpolated": 7754,
+     "mean_hand": 2688,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8389,
+    "observed_fraction_of_valid": 0.8389,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.51,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.5,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 7.8,
+      "p90": 9.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:05:15.758533+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_033",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260916/P33/20260916_055653_session94"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_033/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_033/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..653ebedf1965d6b768d9c3f217c4b04f049bbd50
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_033/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf4699349486d32881e63c22600b63feec8bba98a425dae9bed98ea006dc3d0
+size 3063859
diff --git a/actions/locomotion_primitives/P33/session_033/motions/smplx.npz b/actions/locomotion_primitives/P33/session_033/motions/smplx.npz
index 836faec3e0739798f04686a4c97c109ea6498a3d..7c7caa22c17316ae29f6172d9b36ba332a9c1633 100644
--- a/actions/locomotion_primitives/P33/session_033/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_033/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:68bcc623640b8d9037db628995b0fe3fcee2a24890597981dc58d2cddd4a21c4
-size 6426638
+oid sha256:7cebcd3ee0d481416e54e79633fdbf3110e557f9eb9ae419c585d13d4b86b723
+size 11610066
diff --git a/actions/locomotion_primitives/P33/session_034/annotations.json b/actions/locomotion_primitives/P33/session_034/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc22e6db22fad661ca7f00487b256384173ecfcc
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_034/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03914799092162369
+  }
+ ],
+ "episodes": [
+  {
+   "id": "bc82d4b5-03e8-4cdb-a0a1-ea9fee942819",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 2.6,
+   "end_s": 124.924,
+   "t_start": 2.6391,
+   "t_end": 124.9631,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_034/cameras/slam.npz b/actions/locomotion_primitives/P33/session_034/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7d0202a7cce1124e5775e9a66218e74e5b4e3718
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_034/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abad30f4e2cba5d975fe102fca8562c9489347008a9b1495f7b6da477d2a0a6f
+size 771725
diff --git a/actions/locomotion_primitives/P33/session_034/meta.json b/actions/locomotion_primitives/P33/session_034/meta.json
index 79957513e6472757263055b4c0c04f22ea5c4439..1e0d7539c7c810929c3fc63e10409cfd18f31921 100644
--- a/actions/locomotion_primitives/P33/session_034/meta.json
+++ b/actions/locomotion_primitives/P33/session_034/meta.json
@@ -313,8 +313,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -504,10 +504,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7056146182097445
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 41.59,
+    "offset_rotvec": [
+     0.683,
+     -0.2157,
+     -0.1172
+    ],
+    "dev_deg": {
+     "median": 21.62,
+     "p90": 47.85
+    },
+    "samples": 2128,
+    "accepted": 1413,
+    "wrist_pos_err_mm_median": 128.6,
+    "per_camera": {
+     "head": {
+      "samples": 2128,
+      "accepted": 1413,
+      "gate_deg": 30.0,
+      "offset_deg": 41.59,
+      "tier": "primary",
+      "dev_deg_median": 21.62,
+      "wrist_pos_err_mm_median": 128.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6100,
+     "interpolated": 9316,
+     "mean_hand": 668,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9585,
+    "observed_fraction_of_valid": 0.9585,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 33.85,
+     "smplx": 0.87
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 9.5
+     },
+     "registered": {
+      "median": 9.3,
+      "p90": 10.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 19.15,
+    "offset_rotvec": [
+     -0.0543,
+     0.236,
+     0.2305
+    ],
+    "dev_deg": {
+     "median": 18.62,
+     "p90": 45.14
+    },
+    "samples": 1758,
+    "accepted": 1411,
+    "wrist_pos_err_mm_median": 122.0,
+    "per_camera": {
+     "head": {
+      "samples": 1758,
+      "accepted": 1411,
+      "gate_deg": 30.0,
+      "offset_deg": 19.15,
+      "tier": "primary",
+      "dev_deg_median": 18.62,
+      "wrist_pos_err_mm_median": 122.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6912,
+     "mean_hand": 3352,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7916,
+    "observed_fraction_of_valid": 0.7916,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.7,
+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 9.1
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 10.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:05:14.357177+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_034",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260916/P33/20260916_055927_session95"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_034/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_034/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99f32df0c7031a54485d75a2a600e017371d9849
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_034/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad01281ec0eb4ef65e71f2bbc065a77fe4ff95c43fffef5dfdcf4e51da44da48
+size 2766058
diff --git a/actions/locomotion_primitives/P33/session_034/motions/smplx.npz b/actions/locomotion_primitives/P33/session_034/motions/smplx.npz
index 05d3d1577d35d8aa0439f7baac73133411be1177..c2efc3b857a6c049996379b033618eed4ca3d6b0 100644
--- a/actions/locomotion_primitives/P33/session_034/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_034/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a10fa962fe921256b74f3cda27e39eb242eb8a162df6fe419e69c8f5b4e88eff
-size 6192660
+oid sha256:b93843fcae9b66ea995572eba2fbb445717e3dd8aa165b6a634bae88ac13e35f
+size 11161304
diff --git a/actions/locomotion_primitives/P33/session_035/annotations.json b/actions/locomotion_primitives/P33/session_035/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..369c6776a64f65890575501ee7fd615dfbf82be7
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_035/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966656,
+   "video": "left_eye",
+   "video_t_start": 0.039006309344897794
+  }
+ ],
+ "episodes": [
+  {
+   "id": "cc6c6fd2-8ef0-4d5f-843b-41dcb993136b",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 2.328,
+   "end_s": 124.957,
+   "t_start": 2.367,
+   "t_end": 124.996,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_035/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_035/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..566b6ba341ef567b3e1815d028637842da1556ae
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_035/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.384
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0078,
+   "gate_fail": [],
+   "held_out_px_after": 0.484,
+   "held_out_px_before": 4.124,
+   "inliers": 2156,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3972,
+    -0.3667,
+    -0.8505
+   ],
+   "split_deg": 0.0209,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8766,
+   "gate_fail": [],
+   "held_out_px_after": 0.415,
+   "held_out_px_before": 5.605,
+   "inliers": 3310,
+   "position_fitted": true,
+   "position_mm": [
+    3.64,
+    -11.68,
+    5.78
+   ],
+   "position_sigma_mm": 0.3,
+   "position_split_mm": 3.071,
+   "rotvec_deg": [
+    0.1586,
+    0.6045,
+    -1.7695
+   ],
+   "split_deg": 0.0808,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2425,
+   "gate_fail": [],
+   "held_out_px_after": 0.572,
+   "held_out_px_before": 4.11,
+   "inliers": 1580,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2038,
+    -0.3058,
+    -0.0321
+   ],
+   "split_deg": 0.0584,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7127,
+   "gate_fail": [],
+   "held_out_px_after": 0.38,
+   "held_out_px_before": 3.318,
+   "inliers": 3282,
+   "position_fitted": true,
+   "position_mm": [
+    7.67,
+    -12.98,
+    6.25
+   ],
+   "position_sigma_mm": 0.258,
+   "position_split_mm": 3.343,
+   "rotvec_deg": [
+    0.3026,
+    -0.486,
+    -0.4245
+   ],
+   "split_deg": 0.1046,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.4196,
+   "gate_fail": [],
+   "held_out_px_after": 0.352,
+   "held_out_px_before": 4.875,
+   "inliers": 4270,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.478,
+    -0.0257,
+    -1.3365
+   ],
+   "split_deg": 0.0165,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "281f50d6b73b3721dd4e1e21e12f82f2c17ce19b1ae70016a8dc60cc0891b925",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "42d53a95404e638dc2ec1902dfca22c733472b497594c93fb2d0a915277f4ce4",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9e0bc43a91e302c4254a5fffbd0a103331937b03b297e3e60017f08176e760dd",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "496278818c2c39d1a56b4805fde8638015c571cdf2d982b40c28c69202d9e4dd",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "0907307c67579644",
+ "kind": "online_calibration",
+ "output_sha256": "e82923b881ee1b5bba31b612e72bc7eb13e739eb25239d1a174a3be352f520b4",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
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+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 38.417,
+  "left_eye": 31.032,
+  "left_front": 39.709,
+  "right": 35.374,
+  "right_eye": 32.241,
+  "right_front": 38.938
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_035/cameras/slam.npz b/actions/locomotion_primitives/P33/session_035/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c05c34e8b241690a1f11477f0274918d3fac49c2
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_035/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61e0cb1ca51172bfe60acc204fb09cf6713187524d20c751df1b7dce5adc37b9
+size 744171
diff --git a/actions/locomotion_primitives/P33/session_035/meta.json b/actions/locomotion_primitives/P33/session_035/meta.json
index 282f9a2befcdbe6ba8fea4c8e09d090b7cbc3505..f3eb1c8aec59427b66f6fe4566595f88055ae60a 100644
--- a/actions/locomotion_primitives/P33/session_035/meta.json
+++ b/actions/locomotion_primitives/P33/session_035/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7271700532285603
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.3,
+    "offset_rotvec": [
+     0.2817,
+     0.0144,
+     -0.0376
+    ],
+    "dev_deg": {
+     "median": 15.64,
+     "p90": 31.91
+    },
+    "samples": 2856,
+    "accepted": 2494,
+    "wrist_pos_err_mm_median": 80.9,
+    "per_camera": {
+     "head": {
+      "samples": 2856,
+      "accepted": 2494,
+      "gate_deg": 30.0,
+      "offset_deg": 16.3,
+      "tier": "primary",
+      "dev_deg_median": 15.64,
+      "wrist_pos_err_mm_median": 80.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10326,
+     "interpolated": 5142,
+     "mean_hand": 8,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.26,
+     "smplx": 0.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.2,
+      "p90": 24.4
+     },
+     "registered": {
+      "median": 13.9,
+      "p90": 22.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 28.73,
+    "offset_rotvec": [
+     0.4035,
+     -0.1102,
+     0.2765
+    ],
+    "dev_deg": {
+     "median": 9.72,
+     "p90": 23.53
+    },
+    "samples": 3460,
+    "accepted": 3259,
+    "wrist_pos_err_mm_median": 62.4,
+    "per_camera": {
+     "head": {
+      "samples": 3460,
+      "accepted": 3259,
+      "gate_deg": 30.0,
+      "offset_deg": 28.73,
+      "tier": "primary",
+      "dev_deg_median": 9.72,
+      "wrist_pos_err_mm_median": 62.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13199,
+     "interpolated": 2012,
+     "mean_hand": 265,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9824,
+    "observed_fraction_of_valid": 0.9829,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 28.44,
+     "smplx": 0.45
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 18.7,
+      "p90": 29.6
+     },
+     "registered": {
+      "median": 18.5,
+      "p90": 28.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:33.995719+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_035",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260919/P33/20260919_013529_session12"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_035/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_035/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a0e57ddd9f1e551463c981b87df4ef9d283c9a05
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_035/motions/hands_mano.npz
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--- a/actions/locomotion_primitives/P33/session_035/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_035/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P33/session_036/annotations.json b/actions/locomotion_primitives/P33/session_036/annotations.json
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_036/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966722,
+   "video": "left_eye",
+   "video_t_start": 0.039122281358822786
+  }
+ ],
+ "episodes": [
+  {
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+   "action": "P33",
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+   "end_s": 125.686,
+   "t_start": 2.6231,
+   "t_end": 125.7251,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_036/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_036/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..114c5e00e69c03cfca6bd6a4eea17b3f71aac361
--- /dev/null
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+ },
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+    -0.0134
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
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+  }
+ },
+ "input_fingerprint": "da126ec9a9748102",
+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
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+  "left_front": 40.347,
+  "right": 37.566,
+  "right_eye": 33.529,
+  "right_front": 39.599
+ },
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+  "opencv": "5.0.0",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_036/cameras/slam.npz b/actions/locomotion_primitives/P33/session_036/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..96373fc5b83cab6337c5db433dbe75999a176fe3
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_036/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 772663
diff --git a/actions/locomotion_primitives/P33/session_036/meta.json b/actions/locomotion_primitives/P33/session_036/meta.json
index 5f7b28d2eb3ebc083118ccf828c0c968c06d888e..ab99294c2a95606bfdd1da13e5a895c898a842da 100644
--- a/actions/locomotion_primitives/P33/session_036/meta.json
+++ b/actions/locomotion_primitives/P33/session_036/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7675012046201513
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.2157,
+     0.0615,
+     -0.0371
+    ],
+    "dev_deg": {
+     "median": 15.18,
+     "p90": 35.03
+    },
+    "samples": 3119,
+    "accepted": 2679,
+    "wrist_pos_err_mm_median": 83.3,
+    "per_camera": {
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+      "accepted": 2679,
+      "gate_deg": 30.0,
+      "offset_deg": 13.03,
+      "tier": "primary",
+      "dev_deg_median": 15.18,
+      "wrist_pos_err_mm_median": 83.3
+     }
+    },
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+     "interpolated": 4932,
+     "mean_hand": 132,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9918,
+    "observed_fraction_of_valid": 0.9918,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.52,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.8,
+      "p90": 23.0
+     },
+     "registered": {
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+      "p90": 22.2
+     }
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+     0.2463
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+     "p90": 20.61
+    },
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+    "accepted": 3493,
+    "wrist_pos_err_mm_median": 59.4,
+    "per_camera": {
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+      "accepted": 3493,
+      "gate_deg": 30.0,
+      "offset_deg": 26.5,
+      "tier": "primary",
+      "dev_deg_median": 8.61,
+      "wrist_pos_err_mm_median": 59.4
+     }
+    },
+    "frames_by_state": {
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+     "mean_hand": 316,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9804,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.43
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 28.1
+     },
+     "registered": {
+      "median": 16.9,
+      "p90": 27.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:34.032345+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_036",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260919/P33/20260919_013751_session13"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_036/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_036/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..20a9cfda8159c22a84b370ad384a18c5c73e8c1c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_036/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474ef045393156137c2efca329deb45a634de3531c7f4ebdc3268254c4c6fa9a
+size 4594773
diff --git a/actions/locomotion_primitives/P33/session_036/motions/smplx.npz b/actions/locomotion_primitives/P33/session_036/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_036/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_036/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_037/annotations.json b/actions/locomotion_primitives/P33/session_037/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..faf4348c5da86ac9390994dca326444545bfd603
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_037/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966689,
+   "video": "left_eye",
+   "video_t_start": 0.03917060934250305
+  }
+ ],
+ "episodes": [
+  {
+   "id": "1be86f04-cc1a-4e80-87c4-b5781fd2b4b8",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 2.528,
+   "end_s": 126.649,
+   "t_start": 2.5672,
+   "t_end": 126.6882,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_037/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_037/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e9b6bbc514fd7552b6167338cc5c60264fed0a
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_037/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.368
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 4.034,
+   "inliers": 1837,
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+   "rotvec_deg": [
+    0.4532,
+    -0.3885,
+    -0.8637
+   ],
+   "split_deg": 0.0549,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.895,
+   "inliers": 2789,
+   "position_fitted": true,
+   "position_mm": [
+    4.67,
+    -13.49,
+    5.24
+   ],
+   "position_sigma_mm": 0.309,
+   "position_split_mm": 1.151,
+   "rotvec_deg": [
+    0.1134,
+    0.6009,
+    -1.8113
+   ],
+   "split_deg": 0.0321,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
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+}
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diff --git a/actions/locomotion_primitives/P33/session_037/cameras/slam.npz b/actions/locomotion_primitives/P33/session_037/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_037/meta.json b/actions/locomotion_primitives/P33/session_037/meta.json
index 12608d4d4ba35ed682df050eac248a01babba681..3b6055b27af5b928cf455e189986ae45bf49b7b8 100644
--- a/actions/locomotion_primitives/P33/session_037/meta.json
+++ b/actions/locomotion_primitives/P33/session_037/meta.json
@@ -344,8 +344,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -536,10 +536,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260919/P33/20260919_014015_session14"
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  }
 }
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new file mode 100644
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--- /dev/null
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--- a/actions/locomotion_primitives/P33/session_037/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,28 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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+   "video": "left_eye",
+   "video_t_start": 0.03878270867641209
+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_038/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_038/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..20b64161d1ea13d8285665c0173c919f0864af35
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_038/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+ },
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diff --git a/actions/locomotion_primitives/P33/session_038/cameras/slam.npz b/actions/locomotion_primitives/P33/session_038/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4e4075dfcda78af2caf9ccb95a23b377441cb42c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_038/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_038/meta.json b/actions/locomotion_primitives/P33/session_038/meta.json
index 9147a121957b3a3ce6657c4f07a2810a348ed30f..c59a3a36e593674980e64eab53ea3a77e190d64c 100644
--- a/actions/locomotion_primitives/P33/session_038/meta.json
+++ b/actions/locomotion_primitives/P33/session_038/meta.json
@@ -344,8 +344,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -535,10 +535,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260919/P33/20260919_014238_session15"
+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/P33/session_038/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_038/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_038/motions/hands_mano.npz
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+size 4712250
diff --git a/actions/locomotion_primitives/P33/session_038/motions/smplx.npz b/actions/locomotion_primitives/P33/session_038/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_038/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_038/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_039/annotations.json b/actions/locomotion_primitives/P33/session_039/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b41a973e41918d1fcaa9bc58d4d8579d98d099
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_039/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "P33",
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+   "t_end": 124.7095,
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_039/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_039/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c4a5adc5d87f3c13bd7878ae1ae85b5824d63c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_039/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+ "factory_root_name": "e17c9efadb69e7b1",
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diff --git a/actions/locomotion_primitives/P33/session_039/cameras/slam.npz b/actions/locomotion_primitives/P33/session_039/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0b23159e82e9626d3721157de419d2ae166901a3
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_039/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_039/meta.json b/actions/locomotion_primitives/P33/session_039/meta.json
index affc39269176573f43d3aabdd8cefb422d671e0f..93140c9a18fd184219984fb03e2f4e61cc0b0e57 100644
--- a/actions/locomotion_primitives/P33/session_039/meta.json
+++ b/actions/locomotion_primitives/P33/session_039/meta.json
@@ -343,8 +343,8 @@
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@@ -529,10 +529,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+    },
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+    "accepted": 3330,
+    "wrist_pos_err_mm_median": 62.3,
+    "per_camera": {
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+    },
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+     },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:21.424845+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_039",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260919/P33/20260919_014502_session16"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_039/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_039/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e526d2aba68176dae46a2664004a2aa7c6ce59fa
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_039/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4558935
diff --git a/actions/locomotion_primitives/P33/session_039/motions/smplx.npz b/actions/locomotion_primitives/P33/session_039/motions/smplx.npz
index 602662d845cdcfedac2789247f0fad53f8e65467..3f2da21ec0d1514e22bbe5519d78ef67b40dec55 100644
--- a/actions/locomotion_primitives/P33/session_039/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_039/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5955484
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diff --git a/actions/locomotion_primitives/P33/session_040/annotations.json b/actions/locomotion_primitives/P33/session_040/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8e8852270b2f0606796af5925fe5ec399a1136b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_040/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.9666,
+   "video": "left_eye",
+   "video_t_start": 0.038941737218018746
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3db3cf15-9285-4387-bc41-2905baba86bd",
+   "segment": "segment1",
+   "action": "P33",
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+   "start_s": 2.967,
+   "end_s": 125.539,
+   "t_start": 3.0059,
+   "t_end": 125.5779,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_040/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_040/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee16e0979656064741cb018db52357372d40f42
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_040/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.391
+ },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
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+    "right_eye"
+   ],
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+   "gate_fail": [],
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+    -0.3101,
+    -0.8412
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+   "split_deg": 0.0599,
+   "usable": true
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": true,
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+    -14.55,
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+   "position_split_mm": 1.624,
+   "rotvec_deg": [
+    0.0717,
+    0.6562,
+    -1.8145
+   ],
+   "split_deg": 0.0356,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 3.995,
+   "inliers": 1529,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1835,
+    -0.3275,
+    -0.0549
+   ],
+   "split_deg": 0.129,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 3.567,
+   "inliers": 3435,
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+    -15.13,
+    6.53
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+   "position_split_mm": 2.087,
+   "rotvec_deg": [
+    0.2327,
+    -0.4702,
+    -0.4202
+   ],
+   "split_deg": 0.03,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_after": 0.354,
+   "held_out_px_before": 5.448,
+   "inliers": 4098,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4821,
+    -0.0068,
+    -1.337
+   ],
+   "split_deg": 0.023,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "03d8c11d7a0732b6dd90b9c34a412355fc77eb53d170b37335b3994b58ac20ef",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "87fa4159a137c00b2a411d40d6bed2f46bb1c4d227f13fa428f695f4fc144a5f",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3f237df4b2a6d21321b2feeb698ea2e80bc409b37150d496bb52d0755a3a9482",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "9ab51e46b871a08c8d9d6fc116076a0915341407a87b894613892af51b3c66bd",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "9da6be2e6f68757f",
+ "kind": "online_calibration",
+ "output_sha256": "fc2665af628bfbb2b4cd84617402744d3d8d190a58a47e0824ed7264e3ce7bd5",
+ "overlap": {
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 32.792,
+  "left_front": 38.747,
+  "right": 37.878,
+  "right_eye": 30.172,
+  "right_front": 37.317
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_040/cameras/slam.npz b/actions/locomotion_primitives/P33/session_040/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa09742a1c81a789148c5dc7775644bf39ce3711
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_040/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bbf5fa7873657ecc9bb35d5081c1b9df1e45553f07d920f73de3b953e7e5492
+size 744391
diff --git a/actions/locomotion_primitives/P33/session_040/meta.json b/actions/locomotion_primitives/P33/session_040/meta.json
index 60e344d8ae141c4185026df7ede7cc16bdc307c4..cba130368a6dcaa4ef6605db44eec5698063766e 100644
--- a/actions/locomotion_primitives/P33/session_040/meta.json
+++ b/actions/locomotion_primitives/P33/session_040/meta.json
@@ -330,8 +330,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9136027893076561
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.2749,
+     0.0306,
+     -0.0687
+    ],
+    "dev_deg": {
+     "median": 16.73,
+     "p90": 35.87
+    },
+    "samples": 2941,
+    "accepted": 2500,
+    "wrist_pos_err_mm_median": 73.9,
+    "per_camera": {
+     "head": {
+      "samples": 2941,
+      "accepted": 2500,
+      "gate_deg": 30.0,
+      "offset_deg": 16.33,
+      "tier": "primary",
+      "dev_deg_median": 16.73,
+      "wrist_pos_err_mm_median": 73.9
+     }
+    },
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+     "interpolated": 5156,
+     "mean_hand": 24,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9985,
+    "observed_fraction_of_valid": 0.9985,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.31,
+     "smplx": 0.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 14.5,
+      "p90": 21.5
+     },
+     "registered": {
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+      "p90": 20.6
+     }
+    }
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+    "offset_rotvec": [
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+     -0.1639,
+     0.2639
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+    "dev_deg": {
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+     "p90": 18.03
+    },
+    "samples": 3477,
+    "accepted": 3321,
+    "wrist_pos_err_mm_median": 57.9,
+    "per_camera": {
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+      "accepted": 3321,
+      "gate_deg": 30.0,
+      "offset_deg": 27.86,
+      "tier": "primary",
+      "dev_deg_median": 8.44,
+      "wrist_pos_err_mm_median": 57.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2032,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.28,
+     "smplx": 0.33
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 19.6,
+      "p90": 28.2
+     },
+     "registered": {
+      "median": 19.3,
+      "p90": 27.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:21.443522+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_040",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260919/P33/20260919_014721_session17"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_040/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_040/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..646799b291e1e9e023d13668dd95c0ca2fbc39bf
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_040/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a700e66fe075e494d909be4c14c0deebce2289428033454197900f376002db6c
+size 4364922
diff --git a/actions/locomotion_primitives/P33/session_040/motions/smplx.npz b/actions/locomotion_primitives/P33/session_040/motions/smplx.npz
index c7e6ee5c5854704cab63bae420e70c8ce08d6071..e5f2a1746eb5d9abd721ff31dd3f6498010d26fd 100644
--- a/actions/locomotion_primitives/P33/session_040/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_040/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_041/annotations.json b/actions/locomotion_primitives/P33/session_041/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..515bc2d0a2367d8f05e1543119d2d7f68624cd50
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_041/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03903557703687799
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7551fa3e-a69b-459f-bcfb-9d05df1df6c3",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 1.034,
+   "end_s": 125.164,
+   "t_start": 1.073,
+   "t_end": 125.203,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_041/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_041/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd056300c9c26d1411364fece8382f90700b7e9
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_041/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.38
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0674,
+   "gate_fail": [],
+   "held_out_px_after": 0.562,
+   "held_out_px_before": 4.166,
+   "inliers": 1860,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4518,
+    -0.3756,
+    -0.8911
+   ],
+   "split_deg": 0.0897,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8688,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 5.411,
+   "inliers": 3013,
+   "position_fitted": true,
+   "position_mm": [
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+    -13.09,
+    6.14
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+   "position_split_mm": 2.686,
+   "rotvec_deg": [
+    0.0186,
+    0.6082,
+    -1.767
+   ],
+   "split_deg": 0.0801,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6462,
+   "gate_fail": [],
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+   "held_out_px_before": 4.301,
+   "inliers": 1491,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5392,
+    -0.491,
+    0.316
+   ],
+   "split_deg": 0.0582,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7183,
+   "gate_fail": [],
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+   "held_out_px_before": 3.421,
+   "inliers": 3024,
+   "position_fitted": true,
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+    7.79,
+    -12.46,
+    6.52
+   ],
+   "position_sigma_mm": 0.394,
+   "position_split_mm": 2.826,
+   "rotvec_deg": [
+    0.2767,
+    -0.527,
+    -0.402
+   ],
+   "split_deg": 0.0842,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 4.921,
+   "inliers": 4605,
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+   "rotvec_deg": [
+    -0.446,
+    -0.0555,
+    -1.3449
+   ],
+   "split_deg": 0.0046,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "caa1dc164a4938978f4dfb3f2e62f1dddfa5eb7b95f16e62f2baec5450647b7f",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cbf116b4512ebccee79fb0788046c5392d25a842853ce695d9408d548f2a03f6",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fae7a479d1c3a9dc0594a9143e52e88dca74063123d12e754a944b4dc1ab1ec0",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "de8d59562815e030148177fd932eebd2c662407e062ccf53a59072936123734f",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "8cfa45274f931659",
+ "kind": "online_calibration",
+ "output_sha256": "81e2644397eb5c9e9c2cae28fca15ef5a89058f3815e7b9f6697b8c0a2c946f0",
+ "overlap": {
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+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 37.561,
+  "left_eye": 29.799,
+  "left_front": 40.954,
+  "right": 36.567,
+  "right_eye": 29.254,
+  "right_front": 37.779
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   11836882211888,
+   11843882200777,
+   11844882156333,
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+   11849882189666,
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+   11952882145222,
+   11958882200777,
+   11959882200777
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_041/cameras/slam.npz b/actions/locomotion_primitives/P33/session_041/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80667ecdeacb7453bd8a198b38d420d0c3e7f90d
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_041/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5117240b8a859bf33284f37103311fe54629d82058111fbd2ac4a2005358a34
+size 738616
diff --git a/actions/locomotion_primitives/P33/session_041/meta.json b/actions/locomotion_primitives/P33/session_041/meta.json
index efdb86f706df3d0df3a6494d946b263c07360c43..28c5f04f87fa021c79990318889c9234d2bc75b7 100644
--- a/actions/locomotion_primitives/P33/session_041/meta.json
+++ b/actions/locomotion_primitives/P33/session_041/meta.json
@@ -344,8 +344,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -532,10 +532,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8746154813308392
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.1416,
+     0.0066,
+     -0.0209
+    ],
+    "dev_deg": {
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+     "p90": 38.3
+    },
+    "samples": 2336,
+    "accepted": 1922,
+    "wrist_pos_err_mm_median": 88.0,
+    "per_camera": {
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+      "accepted": 1922,
+      "gate_deg": 30.0,
+      "offset_deg": 8.21,
+      "tier": "primary",
+      "dev_deg_median": 17.3,
+      "wrist_pos_err_mm_median": 88.0
+     }
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+     "interpolated": 6988,
+     "mean_hand": 505,
+     "no_body_fit": 7
+    },
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+    "observed_fraction_of_valid": 0.9674,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+    "per_camera": {
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+     }
+    },
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+    },
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+     "smplx": 0.48
+    },
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+      "p90": 15.1
+     },
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+      "p90": 14.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:21.434522+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_041",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260919/P33/20260919_035031_session56"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_041/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_041/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..33a5e4de5c65d445e0a873f573e372cc0bbeacc2
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_041/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1bd0d974a58a69c7c6d653fdaa057348e09043f83c518507a170fdf75650e16
+size 3126100
diff --git a/actions/locomotion_primitives/P33/session_041/motions/smplx.npz b/actions/locomotion_primitives/P33/session_041/motions/smplx.npz
index f0bcd1c6b7848a9922fedbafc6647b7c77c2cbf8..ee67053c18f0a98284c0c90f3d1aaa629e6b0b4d 100644
--- a/actions/locomotion_primitives/P33/session_041/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_041/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c057e997115f37da222e366dec636e068a9f9232e9820436e611fd8e4ec2f605
-size 5952302
+oid sha256:8b034caddbc697382699b26c1101fe0aed266de9117d5d8c7296967452eef67c
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diff --git a/actions/locomotion_primitives/P33/session_042/annotations.json b/actions/locomotion_primitives/P33/session_042/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7053c6b3f3a863fab475902f0538bbfb4d5c1cba
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_042/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03927587886485484
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0d36fc6d-842b-4e3f-9c8f-71e1bab4e8cf",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 0.76,
+   "end_s": 124.233,
+   "t_start": 0.7993,
+   "t_end": 124.2723,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_042/cameras/slam.npz b/actions/locomotion_primitives/P33/session_042/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ae5cd77715b40f1b0090be366b464b4332c9f5f
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_042/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a053f1cc692f84fd605c8182d8b09fd9edc04a3a2597dbcc1e8c97925a94069b
+size 745400
diff --git a/actions/locomotion_primitives/P33/session_042/meta.json b/actions/locomotion_primitives/P33/session_042/meta.json
index d5f986ad789066841de612da7f66e55cdcc19c3b..b528bca8641579874683b4489039f16c94380fa2 100644
--- a/actions/locomotion_primitives/P33/session_042/meta.json
+++ b/actions/locomotion_primitives/P33/session_042/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6687835204306696
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "p90": 35.56
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+    "accepted": 1280,
+    "wrist_pos_err_mm_median": 210.8,
+    "per_camera": {
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+      "accepted": 1280,
+      "gate_deg": 30.0,
+      "offset_deg": 23.1,
+      "tier": "primary",
+      "dev_deg_median": 15.4,
+      "wrist_pos_err_mm_median": 210.8
+     }
+    },
+    "frames_by_state": {
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+     "mean_hand": 2196,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.8582,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.54,
+     "smplx": 0.56
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.1,
+      "p90": 17.8
+     },
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+      "median": 14.6,
+      "p90": 17.3
+     }
+    }
+   },
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+    "offset_rotvec": [
+     0.2236,
+     -0.0746,
+     0.3649
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+     "median": 18.84,
+     "p90": 38.5
+    },
+    "samples": 2025,
+    "accepted": 1644,
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+      "offset_deg": 24.89,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 148.1
+     }
+    },
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+    },
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+    "observed_fraction_of_valid": 0.9664,
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+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.8,
+      "p90": 27.2
+     },
+     "registered": {
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+      "p90": 26.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
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  }
 }
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@@ -511,10 +511,124 @@
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  }
 }
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+}
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@@ -516,10 +516,124 @@
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   "source_session": "20260919/P33/20260919_081439_session133"
+ },
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+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
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+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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+}
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@@ -512,10 +512,124 @@
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  }
 }
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@@ -512,10 +512,124 @@
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  }
 }
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  }
 }
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+ "primitive": "P33",
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+}
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_048/cameras/slam.npz
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diff --git a/actions/locomotion_primitives/P33/session_048/meta.json b/actions/locomotion_primitives/P33/session_048/meta.json
index 4949264c28f44a82672acaf1669e700b19a06599..e8644d90910ab281773ee4adfba2033155b5cc7d 100644
--- a/actions/locomotion_primitives/P33/session_048/meta.json
+++ b/actions/locomotion_primitives/P33/session_048/meta.json
@@ -325,8 +325,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8492607333430473
  },
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+      "tier": "primary",
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   "family": "locomotion_primitives",
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   "source_session": "20260919/P33/20260919_082429_session137"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
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--- /dev/null
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_049/annotations.json
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+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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+   "video": "left_eye",
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+}
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@@ -535,10 +535,124 @@
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+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
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+}
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diff --git a/actions/locomotion_primitives/P33/session_050/cameras/slam.npz b/actions/locomotion_primitives/P33/session_050/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c8e5fb70524fa3af6b0f94a803be367fe25bc4ad
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_050/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 800755
diff --git a/actions/locomotion_primitives/P33/session_050/meta.json b/actions/locomotion_primitives/P33/session_050/meta.json
index 0d1538ad1f55fbdbf4d64f3f8fd073d1e916a757..bb91e09849cda5a9b92b07b9c718c949026c0f18 100644
--- a/actions/locomotion_primitives/P33/session_050/meta.json
+++ b/actions/locomotion_primitives/P33/session_050/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -541,10 +541,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0308019573502643
  },
+ "hands_registration": {
+  "cameras": {},
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+     "p90": 18.63
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+    "accepted": 4073,
+    "wrist_pos_err_mm_median": 29.8,
+    "per_camera": {
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+      "accepted": 4073,
+      "gate_deg": 30.0,
+      "offset_deg": 36.31,
+      "tier": "primary",
+      "dev_deg_median": 8.28,
+      "wrist_pos_err_mm_median": 29.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16322,
+     "interpolated": 234,
+     "mean_hand": 128,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9923,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 36.17,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 6.7,
+      "p90": 8.9
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+     "registered": {
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+     }
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+    "accepted": 3072,
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+    "per_camera": {
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+      "accepted": 3072,
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+     }
+    }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:14.279586+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_025536_session52"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_050/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_050/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ab441b99dd7f6cf3b4e1ef986fe63ced1ae7eac
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_050/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 5093922
diff --git a/actions/locomotion_primitives/P33/session_050/motions/smplx.npz b/actions/locomotion_primitives/P33/session_050/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_050/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_050/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P33/session_051/annotations.json b/actions/locomotion_primitives/P33/session_051/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1763ad625677b2d80b328ccd89ad37ceba54821
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_051/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
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+   "duration_s": 128.966767,
+   "video": "left_eye",
+   "video_t_start": 0.03896961652420705
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9e0f1c26-7691-4e5e-9f4c-bf982e548a13",
+   "segment": "segment1",
+   "action": "P33",
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+   "end_s": 124.936,
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+   "t_end": 124.975,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_051/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_051/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..348eca80275a96f3dedaa02df341fd35ae9ae9c6
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_051/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.379
+ },
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+    "right_front",
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diff --git a/actions/locomotion_primitives/P33/session_051/cameras/slam.npz b/actions/locomotion_primitives/P33/session_051/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5e5e1b304b3589beff5ea57e64586331d358e3c5
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_051/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_051/meta.json b/actions/locomotion_primitives/P33/session_051/meta.json
index 845f4336ab67a4d9ab0ff75a0cd2f2ff0324d6a1..49223f462a741994cbe11829c98d9704a09077ac 100644
--- a/actions/locomotion_primitives/P33/session_051/meta.json
+++ b/actions/locomotion_primitives/P33/session_051/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -535,10 +535,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5435998343121278
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 36.1,
+    "offset_rotvec": [
+     0.4949,
+     -0.3435,
+     -0.1845
+    ],
+    "dev_deg": {
+     "median": 20.35,
+     "p90": 174.08
+    },
+    "samples": 3539,
+    "accepted": 2086,
+    "wrist_pos_err_mm_median": 49.7,
+    "per_camera": {
+     "head": {
+      "samples": 3539,
+      "accepted": 2086,
+      "gate_deg": 30.0,
+      "offset_deg": 36.1,
+      "tier": "primary",
+      "dev_deg_median": 20.35,
+      "wrist_pos_err_mm_median": 49.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 988,
+     "mean_hand": 6060,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.6086,
+    "observed_fraction_of_valid": 0.6086,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 45.08,
+     "smplx": 6.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 13.1,
+      "p90": 17.0
+     },
+     "registered": {
+      "median": 14.4,
+      "p90": 18.1
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.4906,
+     0.1395,
+     0.0358
+    ],
+    "dev_deg": {
+     "median": 16.1,
+     "p90": 25.73
+    },
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+    "accepted": 3183,
+    "wrist_pos_err_mm_median": 311.9,
+    "per_camera": {
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+      "accepted": 3183,
+      "gate_deg": 30.0,
+      "offset_deg": 29.3,
+      "tier": "primary",
+      "dev_deg_median": 16.1,
+      "wrist_pos_err_mm_median": 311.9
+     }
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+    "observed_fraction_of_valid": 0.968,
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+     },
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+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:11.007182+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_051",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_030406_session53"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_051/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_051/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb804ead7c00743bea3e80daf9f78ac3490bb50f
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_051/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f536799c8c9637008d66eb8fdb804a48c15003986c273f00f4a954c262b5ad8
+size 4690866
diff --git a/actions/locomotion_primitives/P33/session_051/motions/smplx.npz b/actions/locomotion_primitives/P33/session_051/motions/smplx.npz
index 70ace2f16091c593fbd0108f74559beda2472fb6..ef761bb543fff8c227ea7fddd91dfbca764a3cfd 100644
--- a/actions/locomotion_primitives/P33/session_051/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_051/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c5f3e5cb0ed5524e91ccc9691b64bc2bec3682971fcba5c1b5df5cd54e76cf5c
-size 5982922
+oid sha256:2fe18ec3a3263b4e4692be128a7f4f89c6170c1a17052bcca6c4fb62499321a8
+size 10129233
diff --git a/actions/locomotion_primitives/P33/session_052/annotations.json b/actions/locomotion_primitives/P33/session_052/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..8352460454592310bff3f37ddc1b804aea2e7dfb
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_052/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966678,
+   "video": "left_eye",
+   "video_t_start": 0.038933345617702564
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a235e44f-a539-424b-8781-077ebbae5297",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 1.273,
+   "end_s": 129.81,
+   "t_start": 1.3119,
+   "t_end": 129.8489,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_052/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_052/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6d577004d56742a943b622e5701f08ec5a90070
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_052/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.379
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9102,
+   "gate_fail": [],
+   "held_out_px_after": 0.618,
+   "held_out_px_before": 5.436,
+   "inliers": 1649,
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+   "rotvec_deg": [
+    -0.5082,
+    -0.4119,
+    -0.633
+   ],
+   "split_deg": 0.0297,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.2194,
+   "gate_fail": [],
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+   "held_out_px_before": 5.211,
+   "inliers": 2464,
+   "position_fitted": true,
+   "position_mm": [
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+    -11.99,
+    5.86
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+   "position_split_mm": 0.456,
+   "rotvec_deg": [
+    -0.1418,
+    0.7726,
+    -2.0757
+   ],
+   "split_deg": 0.0476,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 4.823,
+   "inliers": 1677,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2286,
+    -0.3177,
+    -0.4006
+   ],
+   "split_deg": 0.0586,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.902,
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+   "held_out_px_after": 0.39,
+   "held_out_px_before": 3.171,
+   "inliers": 2497,
+   "position_fitted": true,
+   "position_mm": [
+    9.51,
+    -13.46,
+    6.22
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+   "position_sigma_mm": 0.332,
+   "position_split_mm": 1.779,
+   "rotvec_deg": [
+    0.2017,
+    -0.3458,
+    -0.8082
+   ],
+   "split_deg": 0.0718,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 6.926,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2244,
+    -0.0673,
+    -2.0217
+   ],
+   "split_deg": 0.0386,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "83516778ebfe30cd6f099073e1e9677e438e1efbf4a53c49f922ec4926485224",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "27cdd21db71ac096afbee557eec7fd869270c82ec1e7e0e075262a9049ee8199",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4c99867f54381da9de490fbc3dafefc60bea2b75492e31bf03210c7595069016",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b54bd974ec5b357fe4a26fb0e9eee723adf454b23984d6adc1090001b76d3242",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "696fa12a66c53eb9",
+ "kind": "online_calibration",
+ "output_sha256": "ab719019fd206385d1f51c2ac6520037d3fe1b5a4e20881c4073a9c0c6632116",
+ "overlap": {
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 27.059,
+  "left_front": 32.825,
+  "right": 34.346,
+  "right_eye": 26.632,
+  "right_front": 32.372
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_052/cameras/slam.npz b/actions/locomotion_primitives/P33/session_052/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3ad55923d553aaf1f9d03dec76195bcd3e6fbc0c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_052/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b971ce9ad60ee00dd9d2bc2ced146e7fd0466b2c574f57b8928c3a149c8e79
+size 767540
diff --git a/actions/locomotion_primitives/P33/session_052/meta.json b/actions/locomotion_primitives/P33/session_052/meta.json
index c75c8d887ef92952e5bc95c218a262fb5ddf6a06..36cc31d307e4f218c744654d26565c1ea47cff3d 100644
--- a/actions/locomotion_primitives/P33/session_052/meta.json
+++ b/actions/locomotion_primitives/P33/session_052/meta.json
@@ -340,8 +340,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -534,10 +534,113 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.6469581383984941
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
+     -1.1498,
+     -0.0126,
+     0.5645
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+    "dev_deg": {
+     "median": 88.99,
+     "p90": 102.45
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+    "samples": 3386,
+    "accepted": 0,
+    "wrist_pos_err_mm_median": 46.0,
+    "per_camera": {
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+      "accepted": 0,
+      "gate_deg": 30.0,
+      "offset_deg": 73.4,
+      "tier": "primary",
+      "dev_deg_median": 88.99,
+      "wrist_pos_err_mm_median": 46.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 0,
+     "mean_hand": 16084,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.0,
+    "observed_fraction_of_valid": 0.0,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 60.62
+    }
+   },
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+    "offset_rotvec": [
+     0.3889,
+     0.1467,
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+     "p90": 23.61
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+    "accepted": 3161,
+    "wrist_pos_err_mm_median": 304.4,
+    "per_camera": {
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+      "accepted": 3161,
+      "gate_deg": 30.0,
+      "offset_deg": 24.7,
+      "tier": "primary",
+      "dev_deg_median": 15.36,
+      "wrist_pos_err_mm_median": 304.4
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2776,
+     "mean_hand": 484,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9699,
+    "observed_fraction_of_valid": 0.9699,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.92,
+     "smplx": 0.43
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.8
+     },
+     "registered": {
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+      "p90": 9.2
+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:11.122153+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_052",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_030626_session54"
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+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_052/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_052/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_052/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4532431
diff --git a/actions/locomotion_primitives/P33/session_052/motions/smplx.npz b/actions/locomotion_primitives/P33/session_052/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_052/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_052/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_053/annotations.json b/actions/locomotion_primitives/P33/session_053/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a444d13cf65b6267341a2d2a7594b2d7b01401
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_053/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
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+   "video": "left_eye",
+   "video_t_start": 0.03914816811482935
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dc461c40-fdb5-41dd-bbc5-0c7a6f817012",
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+   "action": "P33",
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+   "end_s": 130.007,
+   "t_start": 0.9831,
+   "t_end": 130.0461,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_053/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_053/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..383fe7c0dde16ac62a447c8ba5f960699c346e7c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_053/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+  "median_px": 0.379
+ },
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+   "accepted": true,
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+    "right_front",
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+    "right_eye",
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+    "right"
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+    -0.0421,
+    -2.0043
+   ],
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
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+  }
+ },
+ "input_fingerprint": "8316b47d072976ab",
+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 29.401,
+  "left_front": 29.179,
+  "right": 37.96,
+  "right_eye": 34.085,
+  "right_front": 32.908
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_053/cameras/slam.npz b/actions/locomotion_primitives/P33/session_053/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ec17e5d35601eb68e374f31d0db1163f96dcc48
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_053/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 771733
diff --git a/actions/locomotion_primitives/P33/session_053/meta.json b/actions/locomotion_primitives/P33/session_053/meta.json
index 4316a81ccddefbe6dbbc9f0b2c6cd7d415fe37d1..7258ef45a815200302d4a686b6cb4845da842f3a 100644
--- a/actions/locomotion_primitives/P33/session_053/meta.json
+++ b/actions/locomotion_primitives/P33/session_053/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5594115067253094
  },
+ "hands_registration": {
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+     "p90": 20.51
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+    "samples": 3892,
+    "accepted": 3795,
+    "wrist_pos_err_mm_median": 35.7,
+    "per_camera": {
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+      "accepted": 3795,
+      "gate_deg": 30.0,
+      "offset_deg": 31.48,
+      "tier": "primary",
+      "dev_deg_median": 9.85,
+      "wrist_pos_err_mm_median": 35.7
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+     "interpolated": 794,
+     "mean_hand": 20,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9988,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.31,
+     "smplx": 0.42
+    },
+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+     "p90": 26.63
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+    "wrist_pos_err_mm_median": 277.5,
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+      "accepted": 3216,
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+      "tier": "primary",
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+     },
+     "registered": {
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+      "p90": 11.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:11.215546+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_053",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_030852_session55"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_053/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_053/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..47391a62227eb3cc34776845a756e603513289eb
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_053/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2faeb3fd3c51fc65188469cca85d48caf56e3d9b337815e2de60e9790e82a7
+size 4954240
diff --git a/actions/locomotion_primitives/P33/session_053/motions/smplx.npz b/actions/locomotion_primitives/P33/session_053/motions/smplx.npz
index 84bb7e17363bcc5e2b908dfedd4591396575beb9..6a61b4fd0373c761c3c7ab85ed90fa3bd94ef908 100644
--- a/actions/locomotion_primitives/P33/session_053/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_053/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6207207
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diff --git a/actions/locomotion_primitives/P33/session_054/annotations.json b/actions/locomotion_primitives/P33/session_054/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ae3e130f856487697679aeaed8827bd7d098277
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_054/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966611,
+   "video": "left_eye",
+   "video_t_start": 0.03916006183356302
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7340e325-29bd-481f-87d9-cd29cfcc6655",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 0.713,
+   "end_s": 130.191,
+   "t_start": 0.7522,
+   "t_end": 130.2302,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_054/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_054/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f02e1ebff9098d174a43b791155eb6cb65e1aef
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_054/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.369
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.901,
+   "gate_fail": [],
+   "held_out_px_after": 0.512,
+   "held_out_px_before": 5.562,
+   "inliers": 2173,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.416,
+    -0.6562
+   ],
+   "split_deg": 0.0613,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 6.237,
+   "inliers": 3265,
+   "position_fitted": true,
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+    "left_eye",
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+  },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
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+  "left_eye": 35.373,
+  "left_front": 27.998,
+  "right": 45.907,
+  "right_eye": 38.101,
+  "right_front": 32.024
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_054/cameras/slam.npz b/actions/locomotion_primitives/P33/session_054/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30b9f9b27f97b082d0940c2dcefebdecc6a6cd69
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_054/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de12aff47b09fa30919b52ef5fd94112daf519b63a62f55611099abe645cbf95
+size 772644
diff --git a/actions/locomotion_primitives/P33/session_054/meta.json b/actions/locomotion_primitives/P33/session_054/meta.json
index 7e2f80e5e6a70e9f3d873cc15b8ea082271c1e86..69675540b420c40a668f9ddc62b9b31980776aff 100644
--- a/actions/locomotion_primitives/P33/session_054/meta.json
+++ b/actions/locomotion_primitives/P33/session_054/meta.json
@@ -325,8 +325,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5107555320232011
  },
+ "hands_registration": {
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+    "accepted": 3869,
+    "wrist_pos_err_mm_median": 25.4,
+    "per_camera": {
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+      "tier": "primary",
+      "dev_deg_median": 8.69,
+      "wrist_pos_err_mm_median": 25.4
+     }
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+     "interpolated": 552,
+     "mean_hand": 5,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.55
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:25:11.207142+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_031118_session56"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_054/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_054/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5673afccbab571c7a41b5b6ebcdccb57ed882823
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_054/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965dc477d0d918dff4bd937be7e571b42d532dfe3ead6ca6b9c0ef87a8152f4a
+size 4951608
diff --git a/actions/locomotion_primitives/P33/session_054/motions/smplx.npz b/actions/locomotion_primitives/P33/session_054/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_054/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_054/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_055/annotations.json b/actions/locomotion_primitives/P33/session_055/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..45d187d6d720e44d8c2853836b9e1553e3485e3d
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_055/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
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+   "video": "left_eye",
+   "video_t_start": 0.03929663328483235
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "P33",
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+   "t_end": 124.9673,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_055/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_055/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4400f0ef9b6bfe8cf466e22459b0f8b4b55569
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_055/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.371
+ },
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+    "left_eye",
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+ "factory_root_name": "e17c9efadb69e7b1",
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diff --git a/actions/locomotion_primitives/P33/session_055/cameras/slam.npz b/actions/locomotion_primitives/P33/session_055/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dd8493a50e53b98c1eaecc8bb6b3705016b3e2bc
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_055/meta.json b/actions/locomotion_primitives/P33/session_055/meta.json
index e1688ba14070a5a514d1c0f0ca8a68af324952f5..30851c803d39b9e59923f0f71c78575736b75bd1 100644
--- a/actions/locomotion_primitives/P33/session_055/meta.json
+++ b/actions/locomotion_primitives/P33/session_055/meta.json
@@ -326,8 +326,8 @@
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@@ -522,10 +522,113 @@
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  }
 }
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new file mode 100644
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--- /dev/null
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@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..6abdc25ef5d82f38d1fc92cd7acc65033b2b8365
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_056/annotations.json
@@ -0,0 +1,28 @@
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+}
diff --git a/actions/locomotion_primitives/P33/session_056/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_056/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e7ff7fe65b994317934835364b95384956333f
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_056/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
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diff --git a/actions/locomotion_primitives/P33/session_056/cameras/slam.npz b/actions/locomotion_primitives/P33/session_056/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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index 419639d08f2856b9377b3de43c3a3a466dcfdb23..3bee1ba81bcc0b101acccef01c6106ed1f82a9d9 100644
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@@ -522,10 +522,124 @@
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+     }
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+    "accepted": 3007,
+    "wrist_pos_err_mm_median": 69.1,
+    "per_camera": {
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+      "p90": 9.6
+     }
+    }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:08.178294+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_056",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_031601_session58"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_056/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_056/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c6c3fbb47707329840ba9d9f532afae359699d6f
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_056/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 4716387
diff --git a/actions/locomotion_primitives/P33/session_056/motions/smplx.npz b/actions/locomotion_primitives/P33/session_056/motions/smplx.npz
index 3ed2f68c0c152a45c4f538c9d7f0b24fb02b8eaa..fb804759b331cc26b0dce6d1360e1e106c0e81c9 100644
--- a/actions/locomotion_primitives/P33/session_056/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_056/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5978956
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diff --git a/actions/locomotion_primitives/P33/session_057/annotations.json b/actions/locomotion_primitives/P33/session_057/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e2ea176a1f039a5edbb2f72da9239f1fd52b832
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_057/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966667,
+   "video": "left_eye",
+   "video_t_start": 0.039501292838591384
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0b8362b1-bf0c-475d-8442-1964af346db4",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
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+   "end_s": 122.422,
+   "t_start": 1.3115,
+   "t_end": 122.4615,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_057/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_057/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9945857d6a7c8cccef3d38b5d95fecd4b4a03ee4
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_057/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.425
+ },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
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+   "held_out_px_before": 5.572,
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+   "position_fitted": false,
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+    -0.472,
+    -1.0742
+   ],
+   "split_deg": 0.0609,
+   "usable": true
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+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": false,
+   "position_rejected": {
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+     -13.88,
+     4.28
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+    "position_split_mm": 7.326
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+    0.3306,
+    0.8013,
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+   "split_deg": 0.0166,
+   "usable": true
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+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+   "held_out_px_before": 5.631,
+   "inliers": 2046,
+   "position_fitted": false,
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+    1.3834,
+    -0.2856,
+    -0.2891
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
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+    "left_eye",
+    "left",
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+   "held_out_px_before": 3.673,
+   "inliers": 3154,
+   "position_fitted": true,
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+    -4.26,
+    0.13
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+    0.5253,
+    -0.3002,
+    -0.935
+   ],
+   "split_deg": 0.0175,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0817,
+   "gate_fail": [],
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+   "held_out_px_before": 6.782,
+   "inliers": 4892,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2332,
+    -0.0654,
+    -2.0676
+   ],
+   "split_deg": 0.0034,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a45d9e57d41c61ee3729ffb3241787203e1ea5fcb85128700ae89e882a9ff791",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "41081f26569880982f33a6aea08ebcd5e648bc2bf81b21b2c500090440dedcda",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "027a4c2b795cd7098ee52e64f21fe5714e98af4c56982f5fccf7bbdf5cfb08cb",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5fe7482c26c09497104ef5c87b9bf47c5d7c2842ad60b4918ac1946077a3574d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "bfa945abd876c835",
+ "kind": "online_calibration",
+ "output_sha256": "a611a1b17fb94adff503e946f04e85fb9b22c1570420caa4fbb190ffc9b8c16f",
+ "overlap": {
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 34.291,
+  "left_eye": 27.432,
+  "left_front": 33.802,
+  "right": 34.789,
+  "right_eye": 27.231,
+  "right_front": 32.717
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_057/cameras/slam.npz b/actions/locomotion_primitives/P33/session_057/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbac7eb5a4812d23fef7c6b1cd59a899650f29e2
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_057/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5bf1b6a0bc05069fa538ccdc318a702de2200d1bad178e909d2c5a70c79e21b
+size 743696
diff --git a/actions/locomotion_primitives/P33/session_057/meta.json b/actions/locomotion_primitives/P33/session_057/meta.json
index 1f57bbcc817c0d92d40adaee84e02e1b6d4d3fe1..140cecd29c8dfb204e38d2924a2b51f7d394b7e3 100644
--- a/actions/locomotion_primitives/P33/session_057/meta.json
+++ b/actions/locomotion_primitives/P33/session_057/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5646639360057766
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.6367,
+     -0.6437,
+     0.0603
+    ],
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+     "median": 16.88,
+     "p90": 33.18
+    },
+    "samples": 2204,
+    "accepted": 1879,
+    "wrist_pos_err_mm_median": 91.9,
+    "per_camera": {
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+      "accepted": 1879,
+      "gate_deg": 30.0,
+      "offset_deg": 51.99,
+      "tier": "primary",
+      "dev_deg_median": 16.88,
+      "wrist_pos_err_mm_median": 91.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 7386,
+     "mean_hand": 93,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.994,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.57
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "accepted": 1189,
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+      "tier": "primary",
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+     }
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+     "no_body_fit": 8
+    },
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.6,
+      "p90": 8.0
+     },
+     "registered": {
+      "median": 5.2,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:24:53.277187+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_057",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_110427_session209"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_057/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_057/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0513dff87187f4933280613a6b53de7c2ac306b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_057/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5664c8c971b1454651044c016ee588e6824515582ca9218c91850543367599bf
+size 2899698
diff --git a/actions/locomotion_primitives/P33/session_057/motions/smplx.npz b/actions/locomotion_primitives/P33/session_057/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_057/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_057/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P33/session_058/annotations.json b/actions/locomotion_primitives/P33/session_058/annotations.json
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_058/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
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+   "video": "left_eye",
+   "video_t_start": 0.0392846334469219
+  }
+ ],
+ "episodes": [
+  {
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+   "action": "P33",
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+   "t_start": 1.0553,
+   "t_end": 135.8743,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_058/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_058/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d2eb6d18776bd0964f3e6647e7b725adf001879
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_058/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.41
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 5.829,
+   "inliers": 2107,
+   "position_fitted": false,
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+    -0.401,
+    -1.0507
+   ],
+   "split_deg": 0.0769,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 5.713,
+   "inliers": 3176,
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+    -10.22,
+    4.88
+   ],
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+   "position_split_mm": 3.267,
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+    0.9041,
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+   ],
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+   "usable": true
+  },
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+  },
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+    "left_front",
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+    "left_eye",
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+    "left"
+   ],
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+   "held_out_px_before": 5.675,
+   "inliers": 1873,
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+    1.3366,
+    -0.2813,
+    -0.3203
+   ],
+   "split_deg": 0.104,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 3.565,
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+    -13.84,
+    4.46
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+   "position_split_mm": 3.756,
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+    0.2395,
+    -0.2267,
+    -0.958
+   ],
+   "split_deg": 0.1484,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.022,
+    -2.0433
+   ],
+   "split_deg": 0.0144,
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+  }
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bf6af1d7d2f57943ad9eb600423390eb75f56b2732e3ecc847b78acf3d1d6e93",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0c170770fb9e7d7f9b8838891ca9abd69270566a6febac0a01dd60d35b7d6517",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ea0cb09454c4e24a4a87f8f4f84cab43a0d28409ea2e28ee08177c54a2c64117",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "7c0a9232314b2000",
+ "kind": "online_calibration",
+ "output_sha256": "8efd242b49f9155b2e874e43abd035333a2e427506d06702076e362d39b32859",
+ "overlap": {
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+  "left_eye-left": 0.707,
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+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 31.265,
+  "left_eye": 29.667,
+  "left_front": 32.558,
+  "right": 34.406,
+  "right_eye": 24.642,
+  "right_front": 30.298
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_058/cameras/slam.npz b/actions/locomotion_primitives/P33/session_058/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..165163d5127c300809e14e84a08fed8a263e4f73
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_058/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa08a74c35563666e4b2576f07b706199a64f471c12b0832b0f7b427192be1b
+size 829162
diff --git a/actions/locomotion_primitives/P33/session_058/meta.json b/actions/locomotion_primitives/P33/session_058/meta.json
index 5af81b35964c19490a41564c5ea2b97b46a1d9ad..43e2ccf7ed393ad6cc7168236183fc0ee4cf6894 100644
--- a/actions/locomotion_primitives/P33/session_058/meta.json
+++ b/actions/locomotion_primitives/P33/session_058/meta.json
@@ -340,8 +340,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5116340560356272
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 48.84,
+    "offset_rotvec": [
+     0.5802,
+     -0.622,
+     0.0561
+    ],
+    "dev_deg": {
+     "median": 16.38,
+     "p90": 31.2
+    },
+    "samples": 2754,
+    "accepted": 2438,
+    "wrist_pos_err_mm_median": 81.0,
+    "per_camera": {
+     "head": {
+      "samples": 2754,
+      "accepted": 2438,
+      "gate_deg": 30.0,
+      "offset_deg": 48.84,
+      "tier": "primary",
+      "dev_deg_median": 16.38,
+      "wrist_pos_err_mm_median": 81.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10200,
+     "interpolated": 6080,
+     "mean_hand": 996,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9419,
+    "observed_fraction_of_valid": 0.9423,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 52.76,
+     "smplx": 0.57
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.1,
+      "p90": 7.4
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 6.6
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     0.1183
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+    "dev_deg": {
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+     "p90": 49.51
+    },
+    "samples": 2307,
+    "accepted": 1249,
+    "wrist_pos_err_mm_median": 75.5,
+    "per_camera": {
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+      "accepted": 1249,
+      "gate_deg": 30.0,
+      "offset_deg": 22.14,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 75.5
+     }
+    },
+    "frames_by_state": {
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+     "mean_hand": 7428,
+     "no_body_fit": 8
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+    "observed_fraction": 0.5698,
+    "observed_fraction_of_valid": 0.57,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 9.7,
+      "p90": 14.2
+     },
+     "registered": {
+      "median": 9.8,
+      "p90": 13.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:01.849651+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_058",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_110656_session210"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_058/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_058/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7972b02126f3ae5a556f98418897cfd080647b5b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_058/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6dd324f226d9ff1e6e302a7ba3672a8bcf8c6932fae1dde4938e8446f223da
+size 3552905
diff --git a/actions/locomotion_primitives/P33/session_058/motions/smplx.npz b/actions/locomotion_primitives/P33/session_058/motions/smplx.npz
index 74d1fd1d43a321ecf07cc0a2ae2e691ccab0133c..8e1d60b3cf7c34522d9de52ee55b40c3b08b970c 100644
--- a/actions/locomotion_primitives/P33/session_058/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_058/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 6650521
+oid sha256:36dcf5828096ab1e03db40967e46f0c4ade29aa0d3f4e3f2726e8450c18a3e8b
+size 11589214
diff --git a/actions/locomotion_primitives/P33/session_059/annotations.json b/actions/locomotion_primitives/P33/session_059/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8d84f5b58562279f12ba6e194c66019b3a7891e
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_059/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03904577799943154
+  }
+ ],
+ "episodes": [
+  {
+   "id": "61936d06-36dd-4f7d-9221-dbf003b1ab57",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 2.521,
+   "end_s": 121.171,
+   "t_start": 2.56,
+   "t_end": 121.21,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_059/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_059/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8035104d8f665ead10aef3e8648c96ed4f9e0964
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_059/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.379
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2126,
+   "gate_fail": [],
+   "held_out_px_after": 0.552,
+   "held_out_px_before": 5.751,
+   "inliers": 1976,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1254,
+    -0.444,
+    -1.1214
+   ],
+   "split_deg": 0.0523,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4761,
+   "gate_fail": [],
+   "held_out_px_after": 0.405,
+   "held_out_px_before": 5.752,
+   "inliers": 2935,
+   "position_fitted": true,
+   "position_mm": [
+    2.32,
+    -8.87,
+    4.42
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+   "position_split_mm": 1.729,
+   "rotvec_deg": [
+    0.0658,
+    0.8572,
+    -2.3221
+   ],
+   "split_deg": 0.0652,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
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+   "inliers": 1749,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4464,
+    -0.4101,
+    -0.3164
+   ],
+   "split_deg": 0.0255,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
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+   "delta_deg": 1.0863,
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+   "held_out_px_before": 3.685,
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+   "position_fitted": true,
+   "position_mm": [
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+    -11.32,
+    4.16
+   ],
+   "position_sigma_mm": 0.347,
+   "position_split_mm": 1.726,
+   "rotvec_deg": [
+    0.3746,
+    -0.284,
+    -0.9793
+   ],
+   "split_deg": 0.0517,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
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+    "left",
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new file mode 100644
index 0000000000000000000000000000000000000000..cf8b698d7661bfd81a15c6b4c4a9fda71a42a7f1
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_059/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_059/meta.json b/actions/locomotion_primitives/P33/session_059/meta.json
index 8e213948dad2984d34d45db833743ed68b9eecf3..d8fbe9343ea76663ef7c81de8559b7df3618ad6c 100644
--- a/actions/locomotion_primitives/P33/session_059/meta.json
+++ b/actions/locomotion_primitives/P33/session_059/meta.json
@@ -325,8 +325,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -505,10 +505,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5572251267978683
  },
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+     "interpolated": 4902,
+     "mean_hand": 157,
+     "no_body_fit": 8
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
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   "family": "locomotion_primitives",
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   "source_session": "20260929/P33/20260929_110930_session211"
+ },
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  }
 }
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new file mode 100644
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..ca391f5ac15ceb996b58883cf7dda73450259ace
--- /dev/null
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@@ -0,0 +1,28 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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+   "video": "left_eye",
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+  }
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+  }
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+}
diff --git a/actions/locomotion_primitives/P33/session_060/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_060/cameras/gsi_online_calibration.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,260 @@
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diff --git a/actions/locomotion_primitives/P33/session_060/cameras/slam.npz b/actions/locomotion_primitives/P33/session_060/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8509adb46a8e96e7f61975f5cd9b0fdc78bc8773
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_060/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_060/meta.json b/actions/locomotion_primitives/P33/session_060/meta.json
index e70992481af77fb8a544e07d78690c007a24a967..8a7d0a3e30d90fe9a1f34941c1e287a56209fbb2 100644
--- a/actions/locomotion_primitives/P33/session_060/meta.json
+++ b/actions/locomotion_primitives/P33/session_060/meta.json
@@ -340,8 +340,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.644154582244302
  },
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+    "accepted": 2770,
+    "wrist_pos_err_mm_median": 77.9,
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:24:52.606097+00:00",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_111209_session212"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_060/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_060/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_060/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 3783266
diff --git a/actions/locomotion_primitives/P33/session_060/motions/smplx.npz b/actions/locomotion_primitives/P33/session_060/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_060/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_060/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 6200087
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diff --git a/actions/locomotion_primitives/P33/session_061/annotations.json b/actions/locomotion_primitives/P33/session_061/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d7c03e04585b2d97bd4f64d46b276c5b67d46ca
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_061/annotations.json
@@ -0,0 +1,28 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
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+   "duration_s": 133.966544,
+   "video": "left_eye",
+   "video_t_start": 0.03918254976250468
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "P33",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_061/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_061/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..55d795f712b279d734e86ddebedf7053c3e5344b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_061/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+ },
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+}
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diff --git a/actions/locomotion_primitives/P33/session_061/cameras/slam.npz b/actions/locomotion_primitives/P33/session_061/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b9ba877587648786f825f35c08d2aa2f6d88a3b
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_061/meta.json b/actions/locomotion_primitives/P33/session_061/meta.json
index 91751b62e0dfbf56849e3dbb06a149fe646e1905..725128eafa3a74747c1b621499c205f65de1a2fb 100644
--- a/actions/locomotion_primitives/P33/session_061/meta.json
+++ b/actions/locomotion_primitives/P33/session_061/meta.json
@@ -341,8 +341,8 @@
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@@ -521,10 +521,124 @@
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_061",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_111951_session214"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_061/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_061/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c417958d3debc15c321ca25d10a6d7dd0983fd37
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_061/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 3922729
diff --git a/actions/locomotion_primitives/P33/session_061/motions/smplx.npz b/actions/locomotion_primitives/P33/session_061/motions/smplx.npz
index 56a2f8e47b1f2dc6df093d70d62dd64cd556820e..a83bb42edc34d7e8429ad67b43cbfcd9f993fa08 100644
--- a/actions/locomotion_primitives/P33/session_061/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_061/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6214222
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diff --git a/actions/locomotion_primitives/P33/session_062/annotations.json b/actions/locomotion_primitives/P33/session_062/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d8e3ac6ebb6762bd7ad6e0e4018a1a9b0e0f0b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_062/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
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+   "duration_s": 133.966622,
+   "video": "left_eye",
+   "video_t_start": 0.03878885632411411
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5bb1a230-c290-4be1-a973-38ec086adcfa",
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+   "action": "P33",
+   "quality": "valid",
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+   "end_s": 128.275,
+   "t_start": 1.9838,
+   "t_end": 128.3138,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_062/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_062/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8e4c36656cc071e16e4d43c46831cfb5c45741e
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_062/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
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+  "groups_used": 15,
+  "median_px": 0.381
+ },
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+    "left_front",
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+    "left_eye",
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+    -0.4237,
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+   "usable": true
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+    "left",
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+    -12.9,
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+    0.911,
+    -2.3361
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+  },
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+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+   "position_fitted": false,
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+    1.3628,
+    -0.3506,
+    -0.3398
+   ],
+   "split_deg": 0.1127,
+   "usable": true
+  },
+  "right_eye": {
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "position_fitted": true,
+   "position_mm": [
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+    -15.1,
+    4.11
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+   "position_split_mm": 3.997,
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+    0.2176,
+    -0.2202,
+    -0.9843
+   ],
+   "split_deg": 0.1904,
+   "usable": true
+  },
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+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 7.105,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2267,
+    0.0165,
+    -2.0146
+   ],
+   "split_deg": 0.0166,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "sha256": "c5991f8850484a3eedbcb7e971baf19e5d7c59405fc1b5ccd3bed9cebc793449",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cddfacb549279e943d8b6df85413360b4acb31b19ffc78c1caafd2956f5effa9",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bd5b277f5d21b34bfcaf5c244a39fbf404cb2034f283504411e97a222761cdc9",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "8d62a2e1ab62ebaa5cdd888259a1f605b4940a83a067eb958797f9dce1d545be",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "afb193d7c4cf5c50",
+ "kind": "online_calibration",
+ "output_sha256": "2070f6371d2aa0b8f7ad558aec28ca0582be1a85e8bbb058d0b452fa756d237a",
+ "overlap": {
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 33.942,
+  "left_eye": 23.254,
+  "left_front": 31.233,
+  "right": 34.187,
+  "right_eye": 23.234,
+  "right_front": 30.146
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   39979682997888,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_062/cameras/slam.npz b/actions/locomotion_primitives/P33/session_062/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a17be00067e0dc3c6c645e170056c26856e4b5a7
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_062/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:206248812c946f35e4d38d258ab708e92f6613439880c046c5d277897c0513e6
+size 771155
diff --git a/actions/locomotion_primitives/P33/session_062/meta.json b/actions/locomotion_primitives/P33/session_062/meta.json
index 695266409ca91ee93e2c008d7149195706bb1b4d..c3dd0455f5b0b1134f2faedca6646506867322e6 100644
--- a/actions/locomotion_primitives/P33/session_062/meta.json
+++ b/actions/locomotion_primitives/P33/session_062/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.488571499991581
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.9789,
+     -0.6262,
+     0.0753
+    ],
+    "dev_deg": {
+     "median": 13.93,
+     "p90": 28.37
+    },
+    "samples": 2789,
+    "accepted": 2551,
+    "wrist_pos_err_mm_median": 60.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 2551,
+      "gate_deg": 30.0,
+      "offset_deg": 66.72,
+      "tier": "primary",
+      "dev_deg_median": 13.93,
+      "wrist_pos_err_mm_median": 60.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5316,
+     "mean_hand": 120,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.992,
+    "observed_fraction_of_valid": 0.9925,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 67.38,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 6.4
+     },
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+      "p90": 6.3
+     }
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+    "offset_rotvec": [
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+     0.2289,
+     0.0983
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+     "p90": 47.47
+    },
+    "samples": 2115,
+    "accepted": 1271,
+    "wrist_pos_err_mm_median": 67.5,
+    "per_camera": {
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+      "accepted": 1271,
+      "gate_deg": 30.0,
+      "offset_deg": 22.79,
+      "tier": "primary",
+      "dev_deg_median": 21.88,
+      "wrist_pos_err_mm_median": 67.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 4578,
+     "mean_hand": 6408,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.6011,
+    "observed_fraction_of_valid": 0.6014,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 34.8,
+     "smplx": 0.5
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.3,
+      "p90": 8.7
+     },
+     "registered": {
+      "median": 6.1,
+      "p90": 9.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:24:44.840604+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_062",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_112223_session215"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_062/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_062/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cde21f9f10d18a2dac1226843104b599d4d0a636
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_062/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8272c5a6734258f22e9e1aab3c67807fd14902fed62dc9c575220ac2a5cbe8c1
+size 3435837
diff --git a/actions/locomotion_primitives/P33/session_062/motions/smplx.npz b/actions/locomotion_primitives/P33/session_062/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_062/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_062/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6203040
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diff --git a/actions/locomotion_primitives/P33/session_063/annotations.json b/actions/locomotion_primitives/P33/session_063/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..34f2131d22ad57b29a1ffad43994f909049d78c5
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_063/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03906708423502714
+  }
+ ],
+ "episodes": [
+  {
+   "id": "be9a2796-b7de-4776-8e68-e833eeb87a02",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 1.759,
+   "end_s": 130.59,
+   "t_start": 1.7981,
+   "t_end": 130.6291,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_063/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_063/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4846e8d74a5b5f52014af2d2bd61994c340d2e0d
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_063/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.365
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+  },
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+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    -0.4006
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+    -0.1826,
+    -1.0503
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "right_eye",
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+    0.0252,
+    -1.999
+   ],
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+  }
+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  },
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+  },
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+  }
+ },
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.368,
+  "left_eye": 30.439,
+  "left_front": 32.743,
+  "right": 34.486,
+  "right_eye": 27.818,
+  "right_front": 29.479
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_063/cameras/slam.npz b/actions/locomotion_primitives/P33/session_063/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..321811161c56951813c2c332ce3f036c8573d368
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_063/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6270b8bf51c2b2bbb1d245c9383ccc256f04e565732cc2c0e485168e4936f26
+size 800646
diff --git a/actions/locomotion_primitives/P33/session_063/meta.json b/actions/locomotion_primitives/P33/session_063/meta.json
index 20679518ddc27aafa69e8eb21af4a2568b67b271..8979bc1072f11b680ee4f3749c959dd67f67b2ce 100644
--- a/actions/locomotion_primitives/P33/session_063/meta.json
+++ b/actions/locomotion_primitives/P33/session_063/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4605999632745763
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.5485,
+     0.1058
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+     "p90": 39.64
+    },
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+    "accepted": 2132,
+    "wrist_pos_err_mm_median": 85.9,
+    "per_camera": {
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+      "accepted": 2132,
+      "gate_deg": 30.0,
+      "offset_deg": 48.59,
+      "tier": "primary",
+      "dev_deg_median": 23.3,
+      "wrist_pos_err_mm_median": 85.9
+     }
+    },
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+     "interpolated": 7292,
+     "mean_hand": 316,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9811,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.5
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+     0.2541,
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+      "gate_deg": 30.0,
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+      "tier": "primary",
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+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:24:44.095831+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_063",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260929/P33/20260929_114830_session220"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_063/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_063/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..42c0770a745a2b1211bdfd847c83cc05cd552d1a
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_063/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd1012a43a0b82ef0f0bbec97b5d1bcfee2be91e782f339c78a334049dcf294
+size 3831945
diff --git a/actions/locomotion_primitives/P33/session_063/motions/smplx.npz b/actions/locomotion_primitives/P33/session_063/motions/smplx.npz
index cca4cf58fdb65b07521d2160ba228fe50704864b..6a9dcf7d407b3a0748d16d3cf1a30f6024d5976d 100644
--- a/actions/locomotion_primitives/P33/session_063/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_063/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c3f09af2a7685d9e699e6ed8d2d16339294cd88848a2b4812dab01c3352638d0
-size 6422653
+oid sha256:32e1f9316619b6984b7b0cdc066fab536f69dffb3bf7e63ba2f30fe2b5da8602
+size 11881343
diff --git a/actions/locomotion_primitives/P33/session_064/annotations.json b/actions/locomotion_primitives/P33/session_064/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5106dc0bfe407f9bebc9118ea3c2a14a203e083
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_064/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.9667,
+   "video": "left_eye",
+   "video_t_start": 0.039208453116496234
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5ef65ac3-3775-4d6b-afec-f6afae6bc543",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 0.687,
+   "end_s": 126.536,
+   "t_start": 0.7262,
+   "t_end": 126.5752,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_064/cameras/slam.npz b/actions/locomotion_primitives/P33/session_064/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..250b33a71122d8dcb308abf4b371aba153400157
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_064/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7052ed311183a6ec860efd17d312a0498f7e83463ad813b9879a5425ff9c23
+size 773392
diff --git a/actions/locomotion_primitives/P33/session_064/meta.json b/actions/locomotion_primitives/P33/session_064/meta.json
index 660326a60865e1169b55c8726c084b9bf68657d1..cd73ae6009d08a1610e6686ca6467bde9a098fb3 100644
--- a/actions/locomotion_primitives/P33/session_064/meta.json
+++ b/actions/locomotion_primitives/P33/session_064/meta.json
@@ -326,8 +326,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.42835453861856
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.465,
+     -0.3473,
+     0.122
+    ],
+    "dev_deg": {
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+     "p90": 75.58
+    },
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+    "accepted": 1293,
+    "wrist_pos_err_mm_median": 189.5,
+    "per_camera": {
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+      "accepted": 1293,
+      "gate_deg": 30.0,
+      "offset_deg": 33.98,
+      "tier": "primary",
+      "dev_deg_median": 21.75,
+      "wrist_pos_err_mm_median": 189.5
+     }
+    },
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+     "interpolated": 7674,
+     "mean_hand": 2864,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.8219,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.63,
+     "smplx": 2.59
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.4,
+      "p90": 9.0
+     },
+     "registered": {
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+      "p90": 8.6
+     }
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+    "offset_rotvec": [
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+     0.2307,
+     0.1278
+    ],
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+     "p90": 37.94
+    },
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+    "accepted": 1760,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 440.4
+     }
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+    "observed_fraction_of_valid": 0.8712,
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+     "smplx": 0.59
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+      "p90": 8.5
+     },
+     "registered": {
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+      "p90": 7.8
+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:21:58.923132+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_064",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260930/P33/20260930_024853_session47"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_064/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_064/motions/hands_mano.npz
new file mode 100644
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+ "primitive": "P33",
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@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+ },
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+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
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+ "primitive": "P33",
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+}
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   "hands": {
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@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+ "task": {
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+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_066/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_066/motions/hands_mano.npz
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+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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+}
diff --git a/actions/locomotion_primitives/P33/session_067/cameras/slam.npz b/actions/locomotion_primitives/P33/session_067/cameras/slam.npz
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@@ -516,10 +516,124 @@
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  }
 }
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@@ -505,10 +505,124 @@
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  }
 }
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  }
 }
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+   "action": "P33",
+   "quality": "valid",
+   "start_s": 1.264,
+   "end_s": 138.386,
+   "t_start": 1.303,
+   "t_end": 138.425,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_070/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_070/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..29b8846f84bbbfb59574384cf445d55ba638b727
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_070/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.363
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 5.77,
+   "inliers": 2174,
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+    -0.5013,
+    -1.1381
+   ],
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+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+    -12.88,
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+    0.7978,
+    -2.2846
+   ],
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    1.5018,
+    -0.5753,
+    -0.3627
+   ],
+   "split_deg": 0.0766,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -12.81,
+    10.47
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+    0.1794,
+    -0.3256,
+    -0.9756
+   ],
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+   "usable": true
+  },
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    0.0108,
+    -2.0108
+   ],
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+   "usable": true
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+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b55bf7572af348f8b3a3d28d42b4d8ea39a7cfa50e26b3e284015490c382be9a",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "eb5c2f0555d7020d04e14eddc0be50c179b32dd9d1adc860e2467a57701509ed",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ab14fb6a3cc8cce0da20394634f27c65f88d6a6d12d32c548d804eebd0e2fc39",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "01eda6d4e031bd4259c2bfd3b5ee47351bb9a7acd0b3732276f615e459c4f4f0",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d43354107c5fe6eb",
+ "kind": "online_calibration",
+ "output_sha256": "7746e7b029102afa8c22a5d474846bde40ffcda5ce907018722962a679858b43",
+ "overlap": {
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+  "left_eye-right": 0.671,
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+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 34.242,
+  "left_eye": 28.423,
+  "left_front": 33.569,
+  "right": 31.517,
+  "right_eye": 26.656,
+  "right_front": 30.704
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   15908952956000,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_070/cameras/slam.npz b/actions/locomotion_primitives/P33/session_070/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6841a588da58a171635cfb5a83d9388dea6ad3af
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_070/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:713562439b7cf1657f1f41cc5c3ed9f7d97d0ee661ca211c33a0de7d311c906c
+size 831273
diff --git a/actions/locomotion_primitives/P33/session_070/meta.json b/actions/locomotion_primitives/P33/session_070/meta.json
index df01c46d713eb5291dacbab6e63760cabb400bb1..decc76a2a38308644d91d274cd37a903d4053590 100644
--- a/actions/locomotion_primitives/P33/session_070/meta.json
+++ b/actions/locomotion_primitives/P33/session_070/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.415587924067009
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.6973,
+     -0.3348,
+     0.0932
+    ],
+    "dev_deg": {
+     "median": 14.16,
+     "p90": 28.21
+    },
+    "samples": 2834,
+    "accepted": 2596,
+    "wrist_pos_err_mm_median": 94.0,
+    "per_camera": {
+     "head": {
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+      "accepted": 2596,
+      "gate_deg": 30.0,
+      "offset_deg": 44.64,
+      "tier": "primary",
+      "dev_deg_median": 14.16,
+      "wrist_pos_err_mm_median": 94.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10841,
+     "interpolated": 6266,
+     "mean_hand": 169,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9898,
+    "observed_fraction_of_valid": 0.9902,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 43.81,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.3,
+      "p90": 7.9
+     },
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+      "p90": 9.0
+     }
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+     -0.0005
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+     "p90": 26.04
+    },
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+    "accepted": 2600,
+    "wrist_pos_err_mm_median": 75.1,
+    "per_camera": {
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+      "accepted": 2600,
+      "gate_deg": 30.0,
+      "offset_deg": 31.04,
+      "tier": "primary",
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+     }
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+     "mean_hand": 197,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9886,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.45
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+      "median": 4.6,
+      "p90": 6.2
+     },
+     "registered": {
+      "median": 2.7,
+      "p90": 4.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:21:43.084798+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_070",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260930/P33/20260930_073632_session77"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_070/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_070/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bf99dca315b4e2dae2dbd882942645e843d06e77
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_070/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97aa109d073fb7bf0f5bf3be87854b1dd4c2a7fbf7e327aa8edb765ebe39d027
+size 3889449
diff --git a/actions/locomotion_primitives/P33/session_070/motions/smplx.npz b/actions/locomotion_primitives/P33/session_070/motions/smplx.npz
index 1fc9e826f3063752622b886f312648e989b476db..00ee45fb1fc9c5f2d8795081f1b3bbaa00f3b0f2 100644
--- a/actions/locomotion_primitives/P33/session_070/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_070/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1747f94cf2bd075775461047b9b4b1c7eec21b2651531b0612b53a3e13bf1688
-size 6652587
+oid sha256:b2786640302b70403e989a301375d5b80fc292939b8a5bde90e1e31ef009d52e
+size 12416079
diff --git a/actions/locomotion_primitives/P33/session_071/annotations.json b/actions/locomotion_primitives/P33/session_071/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..668ce6a8b40742c4589354210445271dcfd4b786
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_071/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.9668,
+   "video": "left_eye",
+   "video_t_start": 0.0390531171767754
+  }
+ ],
+ "episodes": [
+  {
+   "id": "1fe2c0cc-d200-4e9c-af84-5664fbdb0ad4",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 2.336,
+   "end_s": 121.731,
+   "t_start": 2.3751,
+   "t_end": 121.7701,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_071/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_071/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..543e90e8078d4f26261689411c737f279c40030e
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_071/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.363
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.3229,
+   "gate_fail": [],
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+   "held_out_px_before": 5.55,
+   "inliers": 2452,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1373,
+    -0.5215,
+    -1.208
+   ],
+   "split_deg": 0.0266,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "gate_fail": [],
+   "held_out_px_after": 0.407,
+   "held_out_px_before": 6.491,
+   "inliers": 3591,
+   "position_fitted": true,
+   "position_mm": [
+    -1.45,
+    -9.5,
+    12.04
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+   "position_split_mm": 3.527,
+   "rotvec_deg": [
+    -0.097,
+    0.7845,
+    -2.2854
+   ],
+   "split_deg": 0.0369,
+   "usable": true
+  },
+  "left_front": {
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+  },
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+    1.461,
+    -0.5342,
+    -0.349
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+   "split_deg": 0.0765,
+   "usable": true
+  },
+  "right_eye": {
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+   "position_mm": [
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+    11.94
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+    -0.349,
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+   "usable": true
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+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
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diff --git a/actions/locomotion_primitives/P33/session_071/cameras/slam.npz b/actions/locomotion_primitives/P33/session_071/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..44db5982895ea1753b0caf587ce62fd1d9b59b54
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_071/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_071/meta.json b/actions/locomotion_primitives/P33/session_071/meta.json
index 8f027127304e7e8b81dd3b6245cfc9d13c702e6a..6b93d793d3626a1befcc4a02ff3990a216471b9a 100644
--- a/actions/locomotion_primitives/P33/session_071/meta.json
+++ b/actions/locomotion_primitives/P33/session_071/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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   "family": "locomotion_primitives",
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   "source_session": "20260930/P33/20260930_073930_session78"
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+ "task": {
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+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_071/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_071/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
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+   "video": "left_eye",
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+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_072/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_072/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2956ea2dba750a53e4dbe733b930f59a9b92932a
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_072/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+  "groups_used": 15,
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+ },
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diff --git a/actions/locomotion_primitives/P33/session_072/cameras/slam.npz b/actions/locomotion_primitives/P33/session_072/cameras/slam.npz
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--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_072/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P33/session_072/meta.json b/actions/locomotion_primitives/P33/session_072/meta.json
index 2cd32dab63df05a6a3e49ac47eecab2879c8db60..b70a49103a1960cd2ec8b6d4151a216018fd2a21 100644
--- a/actions/locomotion_primitives/P33/session_072/meta.json
+++ b/actions/locomotion_primitives/P33/session_072/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4962203910993432
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 44.26,
+    "offset_rotvec": [
+     0.6656,
+     -0.3795,
+     0.0976
+    ],
+    "dev_deg": {
+     "median": 10.5,
+     "p90": 21.26
+    },
+    "samples": 3213,
+    "accepted": 3094,
+    "wrist_pos_err_mm_median": 66.3,
+    "per_camera": {
+     "head": {
+      "samples": 3213,
+      "accepted": 3094,
+      "gate_deg": 30.0,
+      "offset_deg": 44.26,
+      "tier": "primary",
+      "dev_deg_median": 10.5,
+      "wrist_pos_err_mm_median": 66.3
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2544,
+     "mean_hand": 340,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.978,
+    "observed_fraction_of_valid": 0.978,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.28
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.3,
+      "p90": 7.2
+     },
+     "registered": {
+      "median": 5.8,
+      "p90": 6.3
+     }
+    }
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+    "offset_deg": 24.27,
+    "offset_rotvec": [
+     0.381,
+     0.1712,
+     -0.0703
+    ],
+    "dev_deg": {
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+     "p90": 23.69
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+    "accepted": 2621,
+    "wrist_pos_err_mm_median": 67.9,
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+      "offset_deg": 24.27,
+      "tier": "primary",
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+     }
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.47
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+      "p90": 7.7
+     }
+    }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:21:32.690585+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_072",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260930/P33/20260930_074200_session79"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_072/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_072/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c8f68321d61e6abbd83982e71e90a690cfda4c0
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4082004
diff --git a/actions/locomotion_primitives/P33/session_072/motions/smplx.npz b/actions/locomotion_primitives/P33/session_072/motions/smplx.npz
index 392caaba684b7a8c9e05de81c9f5c71fd2f4a790..309da65bbda86fbbfed1ef6294372a4162aa0792 100644
--- a/actions/locomotion_primitives/P33/session_072/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_072/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5969974
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diff --git a/actions/locomotion_primitives/P33/session_073/annotations.json b/actions/locomotion_primitives/P33/session_073/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b8f9ff1680f4be55627f2d45a99dca4929af63
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_073/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03895764712534078
+  }
+ ],
+ "episodes": [
+  {
+   "id": "97a0c365-7bb0-49e5-b9b3-b9059ce25c59",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
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+   "end_s": 133.357,
+   "t_start": 0.991,
+   "t_end": 133.396,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_073/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_073/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f7335ba7bfd5e7b2893f5ad492cd637b919e2d
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_073/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
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+  "groups_used": 15,
+  "median_px": 0.378
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "position_fitted": false,
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+    -0.4974,
+    -1.1264
+   ],
+   "split_deg": 0.0309,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "position_mm": [
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+    9.87
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+    0.8563,
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+   "split_deg": 0.0202,
+   "usable": true
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+    "left_eye",
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+    "left"
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+    -0.4814,
+    -0.3794
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+   "usable": true
+  },
+  "right_eye": {
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+    "left",
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+    7.41
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+    -0.3083,
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+   "split_deg": 0.0423,
+   "usable": true
+  },
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+    "right_eye",
+    "left",
+    "right"
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+    -0.0077,
+    -2.0326
+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f1d73204101c24cf1021473dbf38fee6b4a28e40eb37725d980562f7907bf261",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "65b96e41ecb553f54254f4c2406db4c6ebfd04c34b8a36a3d6b507e39dc1efa5",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "24c64c2d9d9dfbc190e7bdc86642c127485be154d6217febb468eebc0a04c09b",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "09a62324367cc246",
+ "kind": "online_calibration",
+ "output_sha256": "cabddf16b5762b07e9a4c3b987d2a556db62a962e717c3beb2d0f35252fcdf2b",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 28.512,
+  "left_front": 34.25,
+  "right": 31.095,
+  "right_eye": 28.641,
+  "right_front": 30.533
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_073/cameras/slam.npz b/actions/locomotion_primitives/P33/session_073/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a8955632ccdebfb10a5942a7d50c311ac71c4509
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_073/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b702d93fbbdaa81c4819b8d2c34ec5944ab047f435c083b2f0325b38394c06
+size 802427
diff --git a/actions/locomotion_primitives/P33/session_073/meta.json b/actions/locomotion_primitives/P33/session_073/meta.json
index 4f63b53b5063304848a79738531fdfadc2747c0e..ad48579c7bf773bc3f989e248fcfffc57a62de94 100644
--- a/actions/locomotion_primitives/P33/session_073/meta.json
+++ b/actions/locomotion_primitives/P33/session_073/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4036416547906478
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 47.91,
+    "offset_rotvec": [
+     0.7271,
+     -0.3947,
+     0.1212
+    ],
+    "dev_deg": {
+     "median": 12.99,
+     "p90": 24.15
+    },
+    "samples": 3070,
+    "accepted": 2932,
+    "wrist_pos_err_mm_median": 55.4,
+    "per_camera": {
+     "head": {
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+      "accepted": 2932,
+      "gate_deg": 30.0,
+      "offset_deg": 47.91,
+      "tier": "primary",
+      "dev_deg_median": 12.99,
+      "wrist_pos_err_mm_median": 55.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12100,
+     "interpolated": 4276,
+     "mean_hand": 308,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9815,
+    "observed_fraction_of_valid": 0.9815,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.71,
+     "smplx": 0.45
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.6,
+      "p90": 10.1
+     },
+     "registered": {
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+      "p90": 11.4
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+    "offset_rotvec": [
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+     0.2324,
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+     "p90": 24.57
+    },
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+    "accepted": 2933,
+    "wrist_pos_err_mm_median": 51.5,
+    "per_camera": {
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+      "accepted": 2933,
+      "gate_deg": 30.0,
+      "offset_deg": 27.27,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 51.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 4546,
+     "mean_hand": 24,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9986,
+    "observed_fraction_of_valid": 0.9986,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.62
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.8
+     },
+     "registered": {
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+      "p90": 7.7
+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:21:30.462795+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_073",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260930/P33/20260930_074557_session82"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_073/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_073/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..143a90e3341f010b1fab9b9902436587cf419faf
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_073/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4231198
diff --git a/actions/locomotion_primitives/P33/session_073/motions/smplx.npz b/actions/locomotion_primitives/P33/session_073/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_073/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_073/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P33/session_074/annotations.json b/actions/locomotion_primitives/P33/session_074/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..773aca2da025d1e328c4f7ef659935e74a4add30
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_074/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
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+   "duration_s": 138.966656,
+   "video": "left_eye",
+   "video_t_start": 0.039109463568245406
+  }
+ ],
+ "episodes": [
+  {
+   "id": "f713ac9c-dc38-4f39-8a4d-c84b054589fa",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
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+   "end_s": 130.602,
+   "t_start": 1.2661,
+   "t_end": 130.6411,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_074/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_074/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a514217f598a440e736dbf1e52da09ff893c4a24
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_074/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+  "groups_used": 14,
+  "median_px": 0.37
+ },
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+   "accepted": true,
+   "against": [
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+    "left_eye",
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+    -0.5079,
+    -1.1401
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+   "usable": true
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
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+   "position_split_mm": 5.566,
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+    0.8584,
+    -2.235
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+  },
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+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "position_fitted": false,
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+    1.4002,
+    -0.4196,
+    -0.3282
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -10.9,
+    7.32
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+    -0.3132,
+    -0.9529
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+   "usable": true
+  },
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+    "left_front",
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+    "left",
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+    -0.0071,
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+   ],
+   "split_deg": 0.0252,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "bdb11206fc96c0414ef57a414e2692e274d3cedb861bfe6d017f738329f6dcc6",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "844e3c61f33c3557d472c5575fde6daf9a920d61f2c36a997f43fb13b7e9094c",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "f6a22fca0f705ade",
+ "kind": "online_calibration",
+ "output_sha256": "f77b30b9c700ba532ab6a430b06b68c9df45053aefde482b61c2545a289bcff6",
+ "overlap": {
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+  "right_eye-left": 0.696,
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 30.805,
+  "left_eye": 26.986,
+  "left_front": 34.561,
+  "right": 30.871,
+  "right_eye": 22.381,
+  "right_front": 31.248
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_074/cameras/slam.npz b/actions/locomotion_primitives/P33/session_074/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f98bce9bf7bb8f27dff98d55f961ba3d14604065
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_074/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0680235a4ef6961c12a7258e944c0e7f5e959a6869661dbf4d73e88f6148839a
+size 801733
diff --git a/actions/locomotion_primitives/P33/session_074/meta.json b/actions/locomotion_primitives/P33/session_074/meta.json
index 98340f220a3a2b82e52ec615c528d5962521b8c8..c2f75b5be97a39b112da11fd4ab99b8beb3a5fe5 100644
--- a/actions/locomotion_primitives/P33/session_074/meta.json
+++ b/actions/locomotion_primitives/P33/session_074/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4394168658912847
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.7184,
+     -0.3948,
+     0.1402
+    ],
+    "dev_deg": {
+     "median": 14.33,
+     "p90": 31.45
+    },
+    "samples": 3118,
+    "accepted": 2790,
+    "wrist_pos_err_mm_median": 68.3,
+    "per_camera": {
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+      "accepted": 2790,
+      "gate_deg": 30.0,
+      "offset_deg": 47.65,
+      "tier": "primary",
+      "dev_deg_median": 14.33,
+      "wrist_pos_err_mm_median": 68.3
+     }
+    },
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+     "interpolated": 4294,
+     "mean_hand": 888,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9468,
+    "observed_fraction_of_valid": 0.9468,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 44.44,
+     "smplx": 0.31
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 8.7,
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+     },
+     "registered": {
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+     }
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+     "p90": 22.51
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+    "accepted": 2948,
+    "wrist_pos_err_mm_median": 56.7,
+    "per_camera": {
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+      "accepted": 2948,
+      "gate_deg": 30.0,
+      "offset_deg": 24.1,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 56.7
+     }
+    },
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+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.42
+    },
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+     "flat": {
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+      "p90": 5.6
+     },
+     "registered": {
+      "median": 6.5,
+      "p90": 7.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:21:30.457377+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_074",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260930/P33/20260930_074826_session83"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_074/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_074/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad593f0e8f959a2ecbb5d0964d143e75ea97cc9b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_074/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56c64f569076f73eba0fd283a561dc73109744c9d2706a2f7805f75c97450c8
+size 4255543
diff --git a/actions/locomotion_primitives/P33/session_074/motions/smplx.npz b/actions/locomotion_primitives/P33/session_074/motions/smplx.npz
index 6ea0dc161a68caf995ebad6dad6ecdde9615dd64..3b0e42fd81dcf7359c3f676c130cd3a94457720e 100644
--- a/actions/locomotion_primitives/P33/session_074/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_074/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6418430
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diff --git a/actions/locomotion_primitives/P33/session_075/annotations.json b/actions/locomotion_primitives/P33/session_075/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1520b759eb1e9e167253d0f5b451bd34c29664c3
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_075/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 138.9668,
+   "video": "left_eye",
+   "video_t_start": 0.03931815048263121
+  }
+ ],
+ "episodes": [
+  {
+   "id": "54c70361-bb03-4874-8b2c-a344f36a3da8",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 0.872,
+   "end_s": 132.033,
+   "t_start": 0.9113,
+   "t_end": 132.0723,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_075/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_075/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..89255b3618d920061a4eb602ba19c5b3ef9553b9
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_075/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.376
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2078,
+   "gate_fail": [],
+   "held_out_px_after": 0.525,
+   "held_out_px_before": 5.945,
+   "inliers": 2018,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2558,
+    -0.4581,
+    -1.0879
+   ],
+   "split_deg": 0.0197,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
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+    "right_front",
+    "left_eye",
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+  },
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+  },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_front": 34.689,
+  "right": 31.289,
+  "right_eye": 23.998,
+  "right_front": 32.161
+ },
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_075/cameras/slam.npz b/actions/locomotion_primitives/P33/session_075/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea493de75673515eb8774ba0f8f94ec747cca0dc
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_075/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15433ea74e259e9b4693461ace87414bca5f4a4dffdab2ecdea835e5ae4704f3
+size 801587
diff --git a/actions/locomotion_primitives/P33/session_075/meta.json b/actions/locomotion_primitives/P33/session_075/meta.json
index 230a0023c689ae1dd9d82017a3b6924d0558e7a2..f46d228bf8e7ae694959283d7ab79cd68a4ac10a 100644
--- a/actions/locomotion_primitives/P33/session_075/meta.json
+++ b/actions/locomotion_primitives/P33/session_075/meta.json
@@ -339,8 +339,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3620685670784385
  },
+ "hands_registration": {
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+     "p90": 31.62
+    },
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+    "accepted": 2927,
+    "wrist_pos_err_mm_median": 58.2,
+    "per_camera": {
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+      "accepted": 2927,
+      "gate_deg": 30.0,
+      "offset_deg": 49.15,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 58.2
+     }
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+     "interpolated": 4118,
+     "mean_hand": 489,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9707,
+    "palm_axis_vs_markers_deg": {
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:21:30.455057+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_075",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20260930/P33/20260930_075056_session84"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_075/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_075/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d15f5c1435c28510022a6ba7476c25c9557bfaf8
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_075/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f51df3bb45ed8fb54d5e4efed310615c4d8cab6a464617443d6840af51f826
+size 4568491
diff --git a/actions/locomotion_primitives/P33/session_075/motions/smplx.npz b/actions/locomotion_primitives/P33/session_075/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_075/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_075/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 6424209
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diff --git a/actions/locomotion_primitives/P33/session_076/annotations.json b/actions/locomotion_primitives/P33/session_076/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8b9ea91ebf94e46fbc650161166d2733524080
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_076/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
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+   "video": "left_eye",
+   "video_t_start": 0.039394685488819414
+  }
+ ],
+ "episodes": [
+  {
+   "id": "aa62b82e-16e6-4c4a-b2db-a90835d02b02",
+   "segment": "segment1",
+   "action": "P33",
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+   "t_start": 0.8724,
+   "t_end": 130.1514,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_076/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_076/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..97e535f9c94fe1a93ecb9e400dda57681c6de39d
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_076/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.379
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye",
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+   "usable": true
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+   "against": [
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+    "right_front",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 6.1,
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+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  },
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diff --git a/actions/locomotion_primitives/P33/session_076/cameras/slam.npz b/actions/locomotion_primitives/P33/session_076/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fdbff8f762a2e256dc8b46737e7d82571b87e452
--- /dev/null
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diff --git a/actions/locomotion_primitives/P33/session_076/meta.json b/actions/locomotion_primitives/P33/session_076/meta.json
index 9d1a74e13c1177a44fa91466309034774909a060..85fafc0dc95be8617aa3bd82bf41eb1a744a52dd 100644
--- a/actions/locomotion_primitives/P33/session_076/meta.json
+++ b/actions/locomotion_primitives/P33/session_076/meta.json
@@ -327,8 +327,8 @@
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-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -517,10 +517,124 @@
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  }
 }
diff --git a/actions/locomotion_primitives/P33/session_076/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_076/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P33/session_076/motions/smplx.npz b/actions/locomotion_primitives/P33/session_076/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..91a28d82e2494dd27295f7a4358b32beb31be33b
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_077/annotations.json
@@ -0,0 +1,28 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_077/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_077/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4ad4a64c9364fc688d4dc98cdb53b71ccc382a6
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_077/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
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diff --git a/actions/locomotion_primitives/P33/session_077/cameras/slam.npz b/actions/locomotion_primitives/P33/session_077/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8f83d7c3735a458512a22c50b68bd6271da7455f
--- /dev/null
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@@ -0,0 +1,3 @@
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index e9025067df15f2998e65574e7c448272a1dc1217..b20113c5e820de919604279146eed54e90692571 100644
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     "left": {
@@ -509,10 +509,124 @@
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+    "wrist_pos_err_mm_median": 37.5,
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+      "accepted": 3996,
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+      "wrist_pos_err_mm_median": 37.5
+     }
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+    },
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+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.9,
+      "p90": 8.5
+     },
+     "registered": {
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+      "p90": 10.6
+     }
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+    ],
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+     "p90": 29.41
+    },
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+    "accepted": 2427,
+    "wrist_pos_err_mm_median": 74.9,
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+      "accepted": 2427,
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+     "interpolated": 7118,
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+     "smplx": 0.32
+    },
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+      "median": 7.1,
+      "p90": 11.2
+     },
+     "registered": {
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+      "p90": 10.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:10:45.891812+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_077",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20261012/P33/20261012_045424_session74"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_077/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_077/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..242999fbf6d3a6467d6212ebfae4ebfa8f7ac2d1
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_077/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4619251
diff --git a/actions/locomotion_primitives/P33/session_077/motions/smplx.npz b/actions/locomotion_primitives/P33/session_077/motions/smplx.npz
index db630038c096a7794243f77fd021fe8c29c44ef6..1b5f4188f7abc6ddc542b84bc408338646a3dd54 100644
--- a/actions/locomotion_primitives/P33/session_077/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_077/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6682418
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diff --git a/actions/locomotion_primitives/P33/session_078/annotations.json b/actions/locomotion_primitives/P33/session_078/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3739c04b69b4d229e77b45f79c386c2f35f7b20c
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_078/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966778,
+   "video": "left_eye",
+   "video_t_start": 0.03856543619690478
+  }
+ ],
+ "episodes": [
+  {
+   "id": "55be993f-38ad-4886-9a9b-33cfda0cc1bc",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 0.712,
+   "end_s": 125.205,
+   "t_start": 0.7506,
+   "t_end": 125.2436,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_078/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_078/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf37a6bb2a5503bde0be4ec7f7880400b88a2e7
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_078/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.361
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.1829,
+   "gate_fail": [],
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+   "held_out_px_before": 5.676,
+   "inliers": 2202,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2179,
+    -0.4808,
+    -1.0586
+   ],
+   "split_deg": 0.041,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4286,
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+   "held_out_px_after": 0.376,
+   "held_out_px_before": 5.943,
+   "inliers": 2953,
+   "position_fitted": true,
+   "position_mm": [
+    5.09,
+    -12.0,
+    7.8
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+   "position_split_mm": 1.364,
+   "rotvec_deg": [
+    -0.2044,
+    0.8367,
+    -2.2708
+   ],
+   "split_deg": 0.0558,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6225,
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+   "held_out_px_before": 5.584,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5236,
+    -0.362,
+    -0.4244
+   ],
+   "split_deg": 0.1454,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.038,
+   "gate_fail": [],
+   "held_out_px_after": 0.368,
+   "held_out_px_before": 3.712,
+   "inliers": 3028,
+   "position_fitted": true,
+   "position_mm": [
+    8.08,
+    -14.41,
+    5.52
+   ],
+   "position_sigma_mm": 0.284,
+   "position_split_mm": 3.28,
+   "rotvec_deg": [
+    0.2815,
+    -0.2864,
+    -0.9572
+   ],
+   "split_deg": 0.0709,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.0394,
+   "gate_fail": [],
+   "held_out_px_after": 0.325,
+   "held_out_px_before": 7.123,
+   "inliers": 4380,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1906,
+    0.0272,
+    -2.0303
+   ],
+   "split_deg": 0.007,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7ffde0edd78c8b3b1d42d95171a204ac50d8f1a45473fa8a89c7d0c920c1f6be",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1904a03d985f2ff6429568760006fde0947f4d768937381d67f62f3a9deb7501",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ca319381425899477742ad71dd04c237a0693c72def6232c268869d7e2835aa9",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c19c98fa913e42e75d3d369a1d7e9a2703ba00bba00050ef153d805829253ad1",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d09fd756a3c13c1b",
+ "kind": "online_calibration",
+ "output_sha256": "36907dfbeb036e3ba66ad14b16523472487f065bb16f3d4bc9fe279afa7ad05f",
+ "overlap": {
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+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 33.177,
+  "left_eye": 26.34,
+  "left_front": 35.646,
+  "right": 39.3,
+  "right_eye": 26.542,
+  "right_front": 34.837
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_078/cameras/slam.npz b/actions/locomotion_primitives/P33/session_078/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..811c1cf83e5ea36bfeedfa27dd4cdfb70eaeb0d4
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_078/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b403ecde654b37d4db25387f7aa45384901654417914935fd42bd8291001b7
+size 743977
diff --git a/actions/locomotion_primitives/P33/session_078/meta.json b/actions/locomotion_primitives/P33/session_078/meta.json
index dbc9cf98c983172a183a0c7068b6b84315262c29..b6a5052fcea0fa1a6fda99d0cda0775120b3b40e 100644
--- a/actions/locomotion_primitives/P33/session_078/meta.json
+++ b/actions/locomotion_primitives/P33/session_078/meta.json
@@ -348,8 +348,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -504,10 +504,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 33.13,
+    "offset_rotvec": [
+     0.3598,
+     -0.4342,
+     -0.1283
+    ],
+    "dev_deg": {
+     "median": 8.36,
+     "p90": 18.12
+    },
+    "samples": 3494,
+    "accepted": 3439,
+    "wrist_pos_err_mm_median": 32.1,
+    "per_camera": {
+     "head": {
+      "samples": 3494,
+      "accepted": 3439,
+      "gate_deg": 30.0,
+      "offset_deg": 33.13,
+      "tier": "primary",
+      "dev_deg_median": 8.36,
+      "wrist_pos_err_mm_median": 32.1
+     }
+    },
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+     "interpolated": 1590,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 33.42,
+     "smplx": 0.36
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 8.5
+     },
+     "registered": {
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+      "p90": 10.5
+     }
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+    "dev_deg": {
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+     "p90": 32.88
+    },
+    "samples": 1995,
+    "accepted": 1723,
+    "wrist_pos_err_mm_median": 82.6,
+    "per_camera": {
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+      "accepted": 1723,
+      "gate_deg": 30.0,
+      "offset_deg": 20.03,
+      "tier": "primary",
+      "dev_deg_median": 12.62,
+      "wrist_pos_err_mm_median": 82.6
+     }
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+    "frames_by_state": {
+     "ace_sample": 7300,
+     "interpolated": 8032,
+     "mean_hand": 152,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9902,
+    "observed_fraction_of_valid": 0.9902,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.03,
+     "smplx": 0.42
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.8
+     },
+     "registered": {
+      "median": 5.9,
+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:10:45.757926+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_078",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20261012/P33/20261012_050327_session77"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_078/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_078/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..593989a6d34c5fa71f9c830a2797a0e3ce6ae4e2
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_078/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5fd51fec946eaa15ef2e8ab16db5113ed00ac0e28239fe6487ad1e79280cc6
+size 3801471
diff --git a/actions/locomotion_primitives/P33/session_078/motions/smplx.npz b/actions/locomotion_primitives/P33/session_078/motions/smplx.npz
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--- a/actions/locomotion_primitives/P33/session_078/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_078/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..facc799f9d6b0eaef626effd265532bce0688b50
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_079/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "action": "P33",
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+   "t_start": 1.1267,
+   "t_end": 126.7647,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_079/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P33/session_079/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..46774ada97bb97bb180b52497f3138c2ce9b40aa
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_079/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+  "groups_used": 15,
+  "median_px": 0.4
+ },
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+   "against": [
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+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    0.7912,
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+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+    -0.3365,
+    -0.3941
+   ],
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    "right_eye",
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+ "factory_root_name": "e17c9efadb69e7b1",
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "49342f85ee75babb",
+ "kind": "online_calibration",
+ "output_sha256": "382878a3fc3721c58a47167aee8d04fc8b1e6b0b4b038f2809d5d425ec8467a0",
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 36.437,
+  "left_front": 40.822,
+  "right": 41.062,
+  "right_eye": 37.755,
+  "right_front": 39.606
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P33/session_079/cameras/slam.npz b/actions/locomotion_primitives/P33/session_079/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..169a6eeed352d0b43449bb40d434be0be0b9c3a0
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_079/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 772658
diff --git a/actions/locomotion_primitives/P33/session_079/meta.json b/actions/locomotion_primitives/P33/session_079/meta.json
index 6877056dd6d9e8d33be7a70a29bc0e47fd07b70c..b9cde917bdf6adfaeaea83117745827d989196e4 100644
--- a/actions/locomotion_primitives/P33/session_079/meta.json
+++ b/actions/locomotion_primitives/P33/session_079/meta.json
@@ -344,8 +344,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -500,10 +500,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "per_camera": {
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+      "accepted": 3168,
+      "gate_deg": 30.0,
+      "offset_deg": 34.3,
+      "tier": "primary",
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+     "interpolated": 3194,
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+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "tier": "primary",
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+    },
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:10:45.753874+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_079",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20261012/P33/20261012_050545_session78"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_079/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_079/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3399927e3b2fe2cb34769f9bab4d20e90dd67c54
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_079/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b98e7159bdd6e32f7517a3e1665035778b5ee49a98d0feb8abbedfbc80270280
+size 3601897
diff --git a/actions/locomotion_primitives/P33/session_079/motions/smplx.npz b/actions/locomotion_primitives/P33/session_079/motions/smplx.npz
index 460628f96f15b01fec6e3f0197b971981b5e0df6..b5aa2fe233a99f2a8d65b3f20369a07606bb1b8f 100644
--- a/actions/locomotion_primitives/P33/session_079/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_079/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 6210427
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diff --git a/actions/locomotion_primitives/P33/session_080/annotations.json b/actions/locomotion_primitives/P33/session_080/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b29f080d70836296c541012daeb0fc0d6adc6c72
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_080/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03858180827649749
+  }
+ ],
+ "episodes": [
+  {
+   "id": "14fde2c4-3d0d-40cf-9dd9-4e8fb2e67e1e",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 1.184,
+   "end_s": 128.302,
+   "t_start": 1.2226,
+   "t_end": 128.3406,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P33/session_080/cameras/slam.npz b/actions/locomotion_primitives/P33/session_080/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce15dc5ec68be1506448d9080900b622ef8ea813
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_080/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2c84bd2822c4cc6b931c0599b2ded4a094be5dada945c4d35a8d2fcea6cf7a7
+size 772211
diff --git a/actions/locomotion_primitives/P33/session_080/meta.json b/actions/locomotion_primitives/P33/session_080/meta.json
index bd02effbdea25a0ee9ba4e3e9048a23cf5b493ac..52273518f4ccafa3adeae20d8a1de2140c83ee31 100644
--- a/actions/locomotion_primitives/P33/session_080/meta.json
+++ b/actions/locomotion_primitives/P33/session_080/meta.json
@@ -344,8 +344,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -500,10 +500,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+    "wrist_pos_err_mm_median": 91.6,
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+      "accepted": 2743,
+      "gate_deg": 30.0,
+      "offset_deg": 42.84,
+      "tier": "primary",
+      "dev_deg_median": 11.12,
+      "wrist_pos_err_mm_median": 91.6
+     }
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+    },
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+    "observed_fraction_of_valid": 0.9975,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.31
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 6.3,
+      "p90": 6.7
+     },
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+     }
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  }
 }
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--- /dev/null
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     "left": {
@@ -500,10 +500,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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  }
 }
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+}
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@@ -504,10 +504,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  }
 }
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+}
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+version https://git-lfs.github.com/spec/v1
+oid sha256:41a7a8532bfbed356ad1fa8fa2db2d2bb4161e2934fcd1c796adaace1901aa3c
+size 773968
diff --git a/actions/locomotion_primitives/P33/session_083/meta.json b/actions/locomotion_primitives/P33/session_083/meta.json
index f6ee39c95bfcbb2a56bf8f7c31d66b27ddec243e..aca97dbece4f8bc8780a0c8f2b4ac91aeb4eed9d 100644
--- a/actions/locomotion_primitives/P33/session_083/meta.json
+++ b/actions/locomotion_primitives/P33/session_083/meta.json
@@ -363,8 +363,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.32,
+    "offset_rotvec": [
+     0.0092,
+     0.0907,
+     0.3065
+    ],
+    "dev_deg": {
+     "median": 17.28,
+     "p90": 32.31
+    },
+    "samples": 2907,
+    "accepted": 2578,
+    "wrist_pos_err_mm_median": 138.8,
+    "per_camera": {
+     "head": {
+      "samples": 2907,
+      "accepted": 2578,
+      "gate_deg": 30.0,
+      "offset_deg": 18.32,
+      "tier": "primary",
+      "dev_deg_median": 17.28,
+      "wrist_pos_err_mm_median": 138.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10706,
+     "interpolated": 4714,
+     "mean_hand": 664,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9587,
+    "observed_fraction_of_valid": 0.9587,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.54,
+     "smplx": 0.57
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.6,
+      "p90": 14.9
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 12.3
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.38,
+    "offset_rotvec": [
+     0.0474,
+     0.2356,
+     -0.0724
+    ],
+    "dev_deg": {
+     "median": 16.36,
+     "p90": 31.91
+    },
+    "samples": 2715,
+    "accepted": 2379,
+    "wrist_pos_err_mm_median": 119.8,
+    "per_camera": {
+     "head": {
+      "samples": 2715,
+      "accepted": 2379,
+      "gate_deg": 30.0,
+      "offset_deg": 14.38,
+      "tier": "primary",
+      "dev_deg_median": 16.36,
+      "wrist_pos_err_mm_median": 119.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9994,
+     "interpolated": 5762,
+     "mean_hand": 328,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9796,
+    "observed_fraction_of_valid": 0.9796,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.13,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.1,
+      "p90": 7.1
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 6.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:07:26.138036+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P33/session_083",
   "family": "locomotion_primitives",
   "primitive": "P33",
   "source_session": "20261013/P33/20261013_080053_session130"
+ },
+ "task": {
+  "primitive": "P33",
+  "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
  }
 }
diff --git a/actions/locomotion_primitives/P33/session_083/motions/hands_mano.npz b/actions/locomotion_primitives/P33/session_083/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..335d65efc868a1a19d0837935caad4e0b2e22670
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_083/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d256f1e1e9b1a9a37ede3406df335056ec49c0abb8c666ede6644cb87350ca57
+size 3900946
diff --git a/actions/locomotion_primitives/P33/session_083/motions/smplx.npz b/actions/locomotion_primitives/P33/session_083/motions/smplx.npz
index bc1c85c610aa505b8a3528a90f4544494619823a..2a815f8a6db9e74b100b373d49c8b24a79ac6562 100644
--- a/actions/locomotion_primitives/P33/session_083/motions/smplx.npz
+++ b/actions/locomotion_primitives/P33/session_083/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9a441edc1268762bddccb88cb736c7b1446b7b04204c85bcad2a11905fff6baa
-size 6221965
+oid sha256:b1f322e7b7d0a49347acab74b0fde2bcd9c461bbbbebd757b88bf95bd3acc8de
+size 11478349
diff --git a/actions/locomotion_primitives/P33/session_084/annotations.json b/actions/locomotion_primitives/P33/session_084/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3d34c20a324c156f2e4cc0c0d5968da478dc90
--- /dev/null
+++ b/actions/locomotion_primitives/P33/session_084/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P33",
+ "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03900890208682095
+  }
+ ],
+ "episodes": [
+  {
+   "id": "796bb448-6427-488c-bc7d-68e6012e1fb3",
+   "segment": "segment1",
+   "action": "P33",
+   "quality": "valid",
+   "start_s": 0.736,
+   "end_s": 123.817,
+   "t_start": 0.775,
+   "t_end": 123.856,
+   "instruction": "Walk to the far dot, turn around, walk back, turn around, and keep repeating without pausing until the operator says stop."
+  }
+ ]
+}