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new file mode 100644
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P05/session_002/motions/smplx.npz b/actions/locomotion_primitives/P05/session_002/motions/smplx.npz
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--- a/actions/locomotion_primitives/P05/session_002/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P05/session_003/annotations.json b/actions/locomotion_primitives/P05/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a65acf6eadc2cfec281ceb9bd862803562b88778
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@@ -0,0 +1,237 @@
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+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2e9714d59cb56d09fbcdafabc93d92f77008529
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 8.51,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
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+  "median_px": 0.335
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
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+    0.7775,
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+   "usable": true
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+  },
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+    12.2,
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+    0.358,
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+   "split_deg": 0.0674,
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "cf5bc98f14b980e98d2a4c0e970a2c4b41a06a203d6981e8e3d67735b2ff2bea",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+   "sha256": "a42850727025cf183962eabb0baceb9c1081c1af2fb38985e1f3709272c24df3",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+ },
+ "input_fingerprint": "ea1ad340bf517f88",
+ "kind": "online_calibration",
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+  "right_front-right": 0.463,
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+  "left_front": 49.24,
+  "right": 44.875,
+  "right_eye": 43.7,
+  "right_front": 49.492
+ },
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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/P05/session_003/cameras/slam.npz b/actions/locomotion_primitives/P05/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8bc86170a6dfc1904e77e35045a3b7c4c288fd44
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d6b783f4d2138bf2ebe74978f0ed4c3895752e32c2bed6187ced40543cf6632
+size 1139368
diff --git a/actions/locomotion_primitives/P05/session_003/meta.json b/actions/locomotion_primitives/P05/session_003/meta.json
index 10e7adfc9ad0ede1b8f715f5dd92b307693f2e29..a9689cbc97bfcf871e861e6087f3b573ddcd8243 100644
--- a/actions/locomotion_primitives/P05/session_003/meta.json
+++ b/actions/locomotion_primitives/P05/session_003/meta.json
@@ -335,8 +335,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.46,
+    "offset_rotvec": [
+     -0.142,
+     -0.2651,
+     -0.0492
+    ],
+    "dev_deg": {
+     "median": 7.29,
+     "p90": 18.09
+    },
+    "samples": 5188,
+    "accepted": 5064,
+    "wrist_pos_err_mm_median": 50.5,
+    "per_camera": {
+     "head": {
+      "samples": 5188,
+      "accepted": 5064,
+      "gate_deg": 30.0,
+      "offset_deg": 17.46,
+      "tier": "primary",
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+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:51:22.042438+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/P05/session_003",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260831/P05/20260831_022455_session12"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d3fb5bde5ab138df0dd53bf234d4a6de8f377ba7
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58fc38db50860c57bfbcdfc510cdbbcd6b60f06abffdcc94aa7dd78b3fb736f5
+size 7041705
diff --git a/actions/locomotion_primitives/P05/session_003/motions/smplx.npz b/actions/locomotion_primitives/P05/session_003/motions/smplx.npz
index 294db316243991d11f1f41809b9d0098e692fcaf..efbb9432efd9af870e782e418b5ee043c9ddf790 100644
--- a/actions/locomotion_primitives/P05/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 8993014
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diff --git a/actions/locomotion_primitives/P05/session_004/annotations.json b/actions/locomotion_primitives/P05/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec8ef26ff6d9f50d34e151eb2da7175a0841b224
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_004/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
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+  }
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+   "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..396751d085c6802be5cf63b18a98f75896c02ed2
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 697.79,
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+     "left",
+     "right"
+    ]
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+  "groups_used": 14,
+  "median_px": 0.366
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.836,
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+   "usable": true
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+    "left",
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+  },
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+    "right_front",
+    "left_eye",
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+   "against": [
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+    "left",
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+    12.22,
+    7.93
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+    0.3828,
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+  },
+  "right_front": {
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+   "against": [
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+    "right_eye",
+    "left",
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
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+ },
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+ "kind": "online_calibration",
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+  "right_front": 42.903
+ },
+ "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/P05/session_004/cameras/slam.npz b/actions/locomotion_primitives/P05/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b901420992b6f432d9d19b6c6d824e5c06b6a6e6
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3a895ee040da43f95d0e735cb042a7769692509e661e7ec8adf1af712934ebd
+size 654274
diff --git a/actions/locomotion_primitives/P05/session_004/meta.json b/actions/locomotion_primitives/P05/session_004/meta.json
index 9c7b11e77b6cde3ee51647e047f45d5f48bc6ff8..26f83fc3a5a35f125888c2d77af704488ac1850b 100644
--- a/actions/locomotion_primitives/P05/session_004/meta.json
+++ b/actions/locomotion_primitives/P05/session_004/meta.json
@@ -347,8 +347,8 @@
   "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": {
@@ -529,10 +529,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 14.47,
+    "offset_rotvec": [
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+     -0.2142,
+     -0.0268
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+    "dev_deg": {
+     "median": 7.4,
+     "p90": 17.87
+    },
+    "samples": 3088,
+    "accepted": 2997,
+    "wrist_pos_err_mm_median": 56.3,
+    "per_camera": {
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+      "accepted": 2997,
+      "gate_deg": 30.0,
+      "offset_deg": 14.47,
+      "tier": "primary",
+      "dev_deg_median": 7.4,
+      "wrist_pos_err_mm_median": 56.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12136,
+     "interpolated": 1420,
+     "mean_hand": 128,
+     "no_body_fit": 0
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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": "2026-11-03T12:51:07.328808+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/P05/session_004",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260831/P05/20260831_063804_session14"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..baf8c39f02776a4f037d0a74af27149c968b8d41
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85beb68d383b63b2de06e9a01e3dc4e4cf70ecfff942e1ec1f1cdb06eb97d2d1
+size 4136536
diff --git a/actions/locomotion_primitives/P05/session_004/motions/smplx.npz b/actions/locomotion_primitives/P05/session_004/motions/smplx.npz
index 412d7efffa032e0169174a0dfa7ed0b8325f6819..58ffc4f3527438d486e57110b2a433d7f04b75dc 100644
--- a/actions/locomotion_primitives/P05/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:18b610fc73ab581762e1cbfdef66f18af20406314fefd02905e9661a66f79c85
-size 5262628
+oid sha256:b8631c467ef3bcaa71ba630ee5159013585d7379bb0bbb751a137e3f21627396
+size 9789822
diff --git a/actions/locomotion_primitives/P05/session_005/annotations.json b/actions/locomotion_primitives/P05/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3980e9121645c13d1bf5f68f0022a1bf4b6a93f1
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_005/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..278f9e9d88dcdce79200be1e0a29ca26df629199
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 697.35,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.328
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "delta_deg": 0.9281,
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+   "held_out_px_before": 6.792,
+   "inliers": 1671,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0063,
+    0.8521,
+    0.3678
+   ],
+   "split_deg": 0.0826,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 2588,
+   "position_fitted": true,
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+    11.48,
+    12.7
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
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+    "left_eye",
+    "left",
+    "right"
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+    11.08,
+    9.49
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+  },
+  "right_front": {
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+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+    0.4858,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
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+   "sha256": "8918dcc1d864bcc3f47ef97c7b0ada9033d63d77d8a4e066de2d7b6e3bd468a8",
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+  }
+ },
+ "input_fingerprint": "040675da147aa572",
+ "kind": "online_calibration",
+ "output_sha256": "fe1d9afaa0e9a841c137c252be114a7486f0e08ced331c6376344057bff8df6e",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 36.832,
+  "left_front": 43.785,
+  "right": 36.382,
+  "right_eye": 38.649,
+  "right_front": 43.534
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P05/session_005/cameras/slam.npz b/actions/locomotion_primitives/P05/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fead2e4da5eceacb105ad421e5ff0b0d1ba400a6
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddda29a6a22d2f87d6ba8cf7b807a81749672de4e5025c524ca4866d0acd524c
+size 511605
diff --git a/actions/locomotion_primitives/P05/session_005/meta.json b/actions/locomotion_primitives/P05/session_005/meta.json
index a99bd9b59f20cee5ca92c1433c3977b6ccc745ed..aae0b6a7fe10b7a2c46be90651f610f993645646 100644
--- a/actions/locomotion_primitives/P05/session_005/meta.json
+++ b/actions/locomotion_primitives/P05/session_005/meta.json
@@ -347,8 +347,8 @@
   "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": {
@@ -529,10 +529,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.51,
+    "offset_rotvec": [
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+     -0.2377,
+     -0.03
+    ],
+    "dev_deg": {
+     "median": 7.77,
+     "p90": 19.88
+    },
+    "samples": 2365,
+    "accepted": 2269,
+    "wrist_pos_err_mm_median": 53.9,
+    "per_camera": {
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+      "accepted": 2269,
+      "gate_deg": 30.0,
+      "offset_deg": 15.51,
+      "tier": "primary",
+      "dev_deg_median": 7.77,
+      "wrist_pos_err_mm_median": 53.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9202,
+     "interpolated": 1350,
+     "mean_hand": 132,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9876,
+    "observed_fraction_of_valid": 0.9876,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.79,
+     "smplx": 0.95
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.0,
+      "p90": 11.2
+     },
+     "registered": {
+      "median": 10.6,
+      "p90": 12.1
+     }
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+     -0.0684,
+     0.1332
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+     "median": 8.54,
+     "p90": 26.02
+    },
+    "samples": 2302,
+    "accepted": 2138,
+    "wrist_pos_err_mm_median": 65.5,
+    "per_camera": {
+     "head": {
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+      "accepted": 2138,
+      "gate_deg": 30.0,
+      "offset_deg": 10.75,
+      "tier": "primary",
+      "dev_deg_median": 8.54,
+      "wrist_pos_err_mm_median": 65.5
+     }
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+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260831/P05/20260831_064015_session15"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ddb17bee26d6d75c2e399260eff42c902355c04c
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3183241
diff --git a/actions/locomotion_primitives/P05/session_005/motions/smplx.npz b/actions/locomotion_primitives/P05/session_005/motions/smplx.npz
index 415d49ee0293f3d5d79ddd273eb136e24f30a159..90fca16a0ee09b32a0da7ae7fe5751c95e6573f9 100644
--- a/actions/locomotion_primitives/P05/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4118215
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+size 7678058
diff --git a/actions/locomotion_primitives/P05/session_006/annotations.json b/actions/locomotion_primitives/P05/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..77b7309566aa248467dbc31489137b1774b4e30e
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_006/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1bfc6ec7143ae31f3cb8c55bb07b00fe9eab12a
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 14.38,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
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+  "groups_used": 14,
+  "median_px": 0.364
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "delta_deg": 0.9242,
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+   "held_out_px_before": 6.752,
+   "inliers": 1913,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0516,
+    0.8703,
+    0.3068
+   ],
+   "split_deg": 0.1277,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "inliers": 3257,
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+  },
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+    "left_eye",
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+   "position_mm": [
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+    8.59,
+    9.78
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+    0.3695,
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+    "right"
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+   ],
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "bf635019d2d35429cc11c1fc1979cbfd9403408b0fb3289d8f1a5f247a09dbe7",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fd95eb797f5fc2281ea78e028cbd2742016e953984d0a1c1551cbc5cafb10e10",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "e64aba703023c81f",
+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "right_eye": 40.196,
+  "right_front": 45.341
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
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+ "selection": {
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P05/session_006/cameras/slam.npz b/actions/locomotion_primitives/P05/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62b369e9c4106fefdabb7bb635a21e07352fb59f
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:463ec6e32ad0e0781d99a55fe84e7f97e77a99e5adf22641858f8eb0be8d5ef6
+size 568537
diff --git a/actions/locomotion_primitives/P05/session_006/meta.json b/actions/locomotion_primitives/P05/session_006/meta.json
index caf28c3b21388e1e7709b7def047524126655dca..da55e7c8b2ff1c67c0ab2fc74fbbb4b35276faee 100644
--- a/actions/locomotion_primitives/P05/session_006/meta.json
+++ b/actions/locomotion_primitives/P05/session_006/meta.json
@@ -333,8 +333,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 17.51,
+    "offset_rotvec": [
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+     -0.2669,
+     -0.025
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+     "p90": 21.98
+    },
+    "samples": 2679,
+    "accepted": 2581,
+    "wrist_pos_err_mm_median": 53.0,
+    "per_camera": {
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+      "accepted": 2581,
+      "gate_deg": 30.0,
+      "offset_deg": 17.51,
+      "tier": "primary",
+      "dev_deg_median": 8.47,
+      "wrist_pos_err_mm_median": 53.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1382,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.31,
+     "smplx": 1.06
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 7.7
+     },
+     "registered": {
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+      "p90": 6.7
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+     0.1213
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+    },
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+    "accepted": 2419,
+    "wrist_pos_err_mm_median": 70.3,
+    "per_camera": {
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+      "accepted": 2419,
+      "gate_deg": 30.0,
+      "offset_deg": 10.54,
+      "tier": "primary",
+      "dev_deg_median": 8.4,
+      "wrist_pos_err_mm_median": 70.3
+     }
+    },
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+     "interpolated": 2022,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.5,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 7.1,
+      "p90": 7.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:50:58.324689+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P05/session_006",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260831/P05/20260831_085206_session57"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..81a759278ea4bb58b20ee68d71cfbab39ad678fe
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23487041d508ce0dd1b4d904a7de273c8150977e53a417619a491cb2182287af
+size 3611209
diff --git a/actions/locomotion_primitives/P05/session_006/motions/smplx.npz b/actions/locomotion_primitives/P05/session_006/motions/smplx.npz
index 85516327669cc729271d4d5c25409443a0e2d9bc..7288d9df03cba2e4d02cdd3c372b1a844676356c 100644
--- a/actions/locomotion_primitives/P05/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0a71bdbda947787d6f04a950c7f48b04f61abfcaba63e65e70c8a6817ed1dda7
-size 4567264
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+size 8561744
diff --git a/actions/locomotion_primitives/P05/session_007/annotations.json b/actions/locomotion_primitives/P05/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e6cbce63f1eac7e263282456240c54d47b23692
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_007/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
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+  }
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+  },
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+   "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1835d978c883ef66d81990ed979466786879c35
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 169,
+    "median_px": 632.8,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.353
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.871,
+   "gate_fail": [],
+   "held_out_px_after": 0.574,
+   "held_out_px_before": 6.803,
+   "inliers": 1880,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0721,
+    0.8312,
+    0.2499
+   ],
+   "split_deg": 0.1384,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 3.43,
+   "inliers": 3259,
+   "position_fitted": true,
+   "position_mm": [
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+    11.86,
+    10.42
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+    0.7493,
+    -0.8433
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+   "split_deg": 0.0677,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.061
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "left",
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+   "held_out_px_before": 1.805,
+   "inliers": 3591,
+   "position_fitted": true,
+   "position_mm": [
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+    11.13,
+    9.34
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+   "position_split_mm": 6.176,
+   "rotvec_deg": [
+    0.2684,
+    0.3395,
+    -0.6726
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+   "split_deg": 0.1036,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8801,
+   "gate_fail": [],
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+   "held_out_px_before": 6.745,
+   "inliers": 4791,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3358,
+    0.5028,
+    -1.7802
+   ],
+   "split_deg": 0.0257,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "aed9f8b252b81f4066469822acbd79da6b297578bce225f06c2e237ae3fc3bd4",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7915e6e558742c61a5cb60524af0b6c4729676a5ff3e74dfebc0b5bd8a7a2206",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1797b8f73cacb097311867f3c1073c771e49c0db131a7d1b5ca1a5b8a53151fa",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9b3c6f2a13f7f6da0980842b691d8bd825bc06757a66930de9770af4b9f936af",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "7889f837b31c9c9d",
+ "kind": "online_calibration",
+ "output_sha256": "a191d3132fb64bd3c704942d3956e015ad7c2ff489ca669547fccbb7a7449efe",
+ "overlap": {
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 40.016,
+  "left_eye": 37.155,
+  "left_front": 43.98,
+  "right": 35.815,
+  "right_eye": 39.385,
+  "right_front": 43.936
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   11170853517888,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P05/session_007/cameras/slam.npz b/actions/locomotion_primitives/P05/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3af6ba7b34e21eae27c35e3662cfcdb9abf52a3f
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed828539d4bbeff7bfcc2e0e721052cee5c9287a8843e5fac978a11c4d8c5e7
+size 597629
diff --git a/actions/locomotion_primitives/P05/session_007/meta.json b/actions/locomotion_primitives/P05/session_007/meta.json
index 6361be624b31d6d80ce96671fba1a07e4c0f5af1..dc0daee849f5540d62fd1fef498481925c68110b 100644
--- a/actions/locomotion_primitives/P05/session_007/meta.json
+++ b/actions/locomotion_primitives/P05/session_007/meta.json
@@ -333,8 +333,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
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+     -0.2594,
+     -0.0215
+    ],
+    "dev_deg": {
+     "median": 7.88,
+     "p90": 19.87
+    },
+    "samples": 2748,
+    "accepted": 2647,
+    "wrist_pos_err_mm_median": 46.6,
+    "per_camera": {
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+      "samples": 2748,
+      "accepted": 2647,
+      "gate_deg": 30.0,
+      "offset_deg": 16.93,
+      "tier": "primary",
+      "dev_deg_median": 7.88,
+      "wrist_pos_err_mm_median": 46.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10734,
+     "interpolated": 1738,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.61,
+     "smplx": 0.99
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 7.7
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 6.9
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     0.1367
+    ],
+    "dev_deg": {
+     "median": 8.97,
+     "p90": 24.95
+    },
+    "samples": 2661,
+    "accepted": 2473,
+    "wrist_pos_err_mm_median": 66.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 2473,
+      "gate_deg": 30.0,
+      "offset_deg": 9.5,
+      "tier": "primary",
+      "dev_deg_median": 8.97,
+      "wrist_pos_err_mm_median": 66.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10050,
+     "interpolated": 2002,
+     "mean_hand": 432,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9654,
+    "observed_fraction_of_valid": 0.9654,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.59,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.2,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 8.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:50:59.330185+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/P05/session_007",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260831/P05/20260831_085355_session58"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2b085eef8ce97cce88f7dbb4efc009e109d8b14e
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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index f33c932b002c7db25eb67858b5c7668a5adbdbb4..14fafc87d797b4bce600fe56a4e1e97562404e18 100644
--- a/actions/locomotion_primitives/P05/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P05/session_008/annotations.json b/actions/locomotion_primitives/P05/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..655ff96652f1c04bffb89fda64c732cf192fdeeb
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_008/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..174f13aa2f7066355c72552657294ba94eebb7ae
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 170,
+    "median_px": 18.4,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.37
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 6.842,
+   "inliers": 1889,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.028,
+    0.786,
+    0.3099
+   ],
+   "split_deg": 0.0356,
+   "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": 3.142,
+   "inliers": 3123,
+   "position_fitted": true,
+   "position_mm": [
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+    6.98,
+    12.05
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+   "rotvec_deg": [
+    0.0273,
+    0.7734,
+    -0.865
+   ],
+   "split_deg": 0.0631,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    0.5033,
+    -0.194,
+    0.0189
+   ],
+   "split_deg": 0.1117,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "left_eye",
+    "left",
+    "right"
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+   "delta_deg": 0.8162,
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+   "held_out_px_before": 1.945,
+   "inliers": 3377,
+   "position_fitted": true,
+   "position_mm": [
+    -8.84,
+    9.94,
+    8.37
+   ],
+   "position_sigma_mm": 0.267,
+   "position_split_mm": 1.259,
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+    0.2441,
+    0.3628,
+    -0.6892
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+   "split_deg": 0.0367,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.891,
+   "gate_fail": [],
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+   "held_out_px_before": 6.996,
+   "inliers": 4226,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3364,
+    0.5123,
+    -1.789
+   ],
+   "split_deg": 0.014,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5969acfd79c573113ead3b8830d3b0daba626d9414608cd953da3a09d31238c0",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "18b80a763e0f63dee03bbe235a8660a7acdd204b37ff71b032b87cf92b64f016",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "12e02345fee2f449c4570f6ceee4636063d14c1d6f8b6b25addfe66c59917ce1",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5bc0fdd7b8e0e78654a990fb2ab382a766dd714a002a1d28685f7b084ac9b880",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "e55798e290514a2a",
+ "kind": "online_calibration",
+ "output_sha256": "2ec135e7e2f0c96f031e31cb865723241b841a96f257332c5afecceefca4ab6f",
+ "overlap": {
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+  "left_eye-left": 0.707,
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+  "left_front-left": 0.484,
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 37.351,
+  "left_eye": 36.819,
+  "left_front": 45.911,
+  "right": 34.777,
+  "right_eye": 38.395,
+  "right_front": 44.99
+ },
+ "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/P05/session_008/cameras/slam.npz b/actions/locomotion_primitives/P05/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..060ca1ecdae87b9f3e8c3e91c665f08300a11417
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40a49cbeb8f0747a8df5142814d940c91ea0946ac40e285c03d202fbb222a6a0
+size 654429
diff --git a/actions/locomotion_primitives/P05/session_008/meta.json b/actions/locomotion_primitives/P05/session_008/meta.json
index 12a95d5834ac49189ffba5fa5e9a147a09dac20a..6814e4b27547cc5cd8838f98483ecb50d9a7127b 100644
--- a/actions/locomotion_primitives/P05/session_008/meta.json
+++ b/actions/locomotion_primitives/P05/session_008/meta.json
@@ -333,8 +333,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.13,
+    "offset_rotvec": [
+     -0.1199,
+     -0.2735,
+     -0.0162
+    ],
+    "dev_deg": {
+     "median": 8.63,
+     "p90": 20.73
+    },
+    "samples": 3059,
+    "accepted": 2955,
+    "wrist_pos_err_mm_median": 54.4,
+    "per_camera": {
+     "head": {
+      "samples": 3059,
+      "accepted": 2955,
+      "gate_deg": 30.0,
+      "offset_deg": 17.13,
+      "tier": "primary",
+      "dev_deg_median": 8.63,
+      "wrist_pos_err_mm_median": 54.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11980,
+     "interpolated": 1692,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.61,
+     "smplx": 0.8
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 10.3
+     },
+     "registered": {
+      "median": 8.7,
+      "p90": 11.3
+     }
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+   },
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+    "offset_rotvec": [
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+     -0.0713,
+     0.1125
+    ],
+    "dev_deg": {
+     "median": 8.58,
+     "p90": 27.37
+    },
+    "samples": 2972,
+    "accepted": 2724,
+    "wrist_pos_err_mm_median": 77.4,
+    "per_camera": {
+     "head": {
+      "samples": 2972,
+      "accepted": 2724,
+      "gate_deg": 30.0,
+      "offset_deg": 9.3,
+      "tier": "primary",
+      "dev_deg_median": 8.58,
+      "wrist_pos_err_mm_median": 77.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11110,
+     "interpolated": 2562,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.42,
+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.7,
+      "p90": 6.6
+     },
+     "registered": {
+      "median": 5.6,
+      "p90": 6.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:51:00.928267+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/P05/session_008",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260831/P05/20260831_085944_session61"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4269f053d4491725b9bd37df3265599c074056fc
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859a56d110395f1a6d0d98bbf385d43a1d6875e4726e6be8e53952dfbe55da0e
+size 4111911
diff --git a/actions/locomotion_primitives/P05/session_008/motions/smplx.npz b/actions/locomotion_primitives/P05/session_008/motions/smplx.npz
index 795aeb222f1790285d1e3e13d848cf5997174043..3eb78d6aecd26dfd2a704af8bf3fd7cc6d7ea9b5 100644
--- a/actions/locomotion_primitives/P05/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..d5685e14cf83454880eecece477ea2e673c6dd7a
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_009/annotations.json
@@ -0,0 +1,127 @@
+{
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+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd7d41b9d0a3ac8dd57a300834cd164a9f8477e
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
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+     "left",
+     "right"
+    ]
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+  "median_px": 0.377
+ },
+ "cameras": {
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+   "accepted": true,
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+    "right_front",
+    "left_eye",
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+    0.8944,
+    0.2804
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+   "usable": true
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    "right_front",
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+    "left",
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+  },
+  "right_front": {
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+    "left_front",
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+    "left",
+    "right"
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "edbdd285c1e7b7297cc110a61feec0e58d9b96bd6d7761bbb363cb08b571ce36",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_front": 46.119,
+  "right": 37.874,
+  "right_eye": 41.302,
+  "right_front": 44.15
+ },
+ "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/P05/session_009/cameras/slam.npz b/actions/locomotion_primitives/P05/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..147fcf2ac4ac6878facad1838305ab26a342dbf9
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a157810d7a2acf0f43a809066b7582219ee13fb8e0bb819736c48de4458ee6de
+size 709975
diff --git a/actions/locomotion_primitives/P05/session_009/meta.json b/actions/locomotion_primitives/P05/session_009/meta.json
index ae6299486c9bd80d4f9df445df769601de2a4d70..9093fcf025da29cdca23d9d5990afc992977158f 100644
--- a/actions/locomotion_primitives/P05/session_009/meta.json
+++ b/actions/locomotion_primitives/P05/session_009/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.95,
+    "offset_rotvec": [
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+     -0.2628,
+     -0.0205
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+    "dev_deg": {
+     "median": 8.58,
+     "p90": 20.57
+    },
+    "samples": 3394,
+    "accepted": 3282,
+    "wrist_pos_err_mm_median": 47.9,
+    "per_camera": {
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+      "accepted": 3282,
+      "gate_deg": 30.0,
+      "offset_deg": 16.95,
+      "tier": "primary",
+      "dev_deg_median": 8.58,
+      "wrist_pos_err_mm_median": 47.9
+     }
+    },
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+     "interpolated": 1574,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.58,
+     "smplx": 0.83
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 7.4
+     },
+     "registered": {
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+     }
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+     "p90": 24.26
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+    "accepted": 3146,
+    "wrist_pos_err_mm_median": 72.2,
+    "per_camera": {
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+      "accepted": 3146,
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+      "tier": "primary",
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+     }
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+     "interpolated": 2116,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.65
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.9
+     },
+     "registered": {
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+      "p90": 6.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:51:03.727129+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/P05/session_009",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260831/P05/20260831_090148_session62"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e6454905cca34c3335df37daa11f38cd2b5c048b
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ce51780c20bc9d2a39242bd84cff6d586c3fdab6e767bc8355a7366ad7db747
+size 4590379
diff --git a/actions/locomotion_primitives/P05/session_009/motions/smplx.npz b/actions/locomotion_primitives/P05/session_009/motions/smplx.npz
index 212dbf347dc22303e821a1cfe1b25f967f6592a5..734f8529b488aa8e2fed0ac65df6fbc39cc4884a 100644
--- a/actions/locomotion_primitives/P05/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5705558
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diff --git a/actions/locomotion_primitives/P05/session_010/annotations.json b/actions/locomotion_primitives/P05/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9350d3993533fb54a4281b87c67655c25d0cda44
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_010/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
+ "segments": [
+  {
+   "id": "segment1",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..198cf08cebf885302ece6eb7176efa56dd9ef1cc
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 195,
+    "median_px": 625.88,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.355
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.796,
+   "gate_fail": [],
+   "held_out_px_after": 0.462,
+   "held_out_px_before": 7.398,
+   "inliers": 2547,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.024,
+    0.7293,
+    0.318
+   ],
+   "split_deg": 0.0419,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0778,
+   "gate_fail": [],
+   "held_out_px_after": 0.329,
+   "held_out_px_before": 2.852,
+   "inliers": 3662,
+   "position_fitted": true,
+   "position_mm": [
+    -7.98,
+    8.32,
+    13.16
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+   "position_split_mm": 1.693,
+   "rotvec_deg": [
+    0.0723,
+    0.7344,
+    -0.7855
+   ],
+   "split_deg": 0.0469,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2989,
+   "gate_fail": [],
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+   "held_out_px_before": 2.863,
+   "inliers": 2186,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2687,
+    -0.1049,
+    -0.0785
+   ],
+   "split_deg": 0.0349,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7369,
+   "gate_fail": [],
+   "held_out_px_after": 0.347,
+   "held_out_px_before": 2.327,
+   "inliers": 4109,
+   "position_fitted": true,
+   "position_mm": [
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+    9.29,
+    13.21
+   ],
+   "position_sigma_mm": 0.315,
+   "position_split_mm": 2.63,
+   "rotvec_deg": [
+    0.2095,
+    0.2862,
+    -0.6459
+   ],
+   "split_deg": 0.0521,
+   "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": 10.367,
+   "inliers": 4878,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3324,
+    0.4991,
+    -1.921
+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a7598e7dba1750c71f3d0d9a2591073c6df560d50ab80107803d0a9c23e95f96",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "98a25c16d89990dc37def52bc8a76e8c013af51c401593a1ab14bb4da23de58c",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b82368dc4efbb89f1c62b0d37de4728236d111b0fb60065d6edc542ff22f1a3f",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f691c0afadd6b914e5754d54dd0482e4de748639b25337dbf4ee515b9f0a51ea",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "f29fe4cb57cbedb8",
+ "kind": "online_calibration",
+ "output_sha256": "e37a43aba43eebc56cdf5ea0ff75293cd22efd3bac8e40bd489f9f55bf81da91",
+ "overlap": {
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+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 38.648,
+  "left_eye": 36.217,
+  "left_front": 38.961,
+  "right": 40.074,
+  "right_eye": 35.328,
+  "right_front": 38.626
+ },
+ "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/P05/session_010/cameras/slam.npz b/actions/locomotion_primitives/P05/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ef9f69b708def9020570b485f413af1f95a9340d
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:567ab18d605c5a96e3a782ce990e5b39faeadda1d4dfe03b0928d3bc54f75297
+size 598285
diff --git a/actions/locomotion_primitives/P05/session_010/meta.json b/actions/locomotion_primitives/P05/session_010/meta.json
index 3da99e9715fed8ec96d1ddcef168acdb3e68ce54..c10c70fa0e3dcc0f8563906a4505465a8981cef9 100644
--- a/actions/locomotion_primitives/P05/session_010/meta.json
+++ b/actions/locomotion_primitives/P05/session_010/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": {
@@ -529,10 +529,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 11.64,
+    "offset_rotvec": [
+     -0.0935,
+     -0.1357,
+     -0.1188
+    ],
+    "dev_deg": {
+     "median": 6.55,
+     "p90": 17.16
+    },
+    "samples": 2626,
+    "accepted": 2539,
+    "wrist_pos_err_mm_median": 49.7,
+    "per_camera": {
+     "head": {
+      "samples": 2626,
+      "accepted": 2539,
+      "gate_deg": 30.0,
+      "offset_deg": 11.64,
+      "tier": "primary",
+      "dev_deg_median": 6.55,
+      "wrist_pos_err_mm_median": 49.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10342,
+     "interpolated": 1981,
+     "mean_hand": 132,
+     "no_body_fit": 29
+    },
+    "observed_fraction": 0.9871,
+    "observed_fraction_of_valid": 0.9894,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.25,
+     "smplx": 1.09
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.0,
+      "p90": 13.8
+     },
+     "registered": {
+      "median": 14.1,
+      "p90": 15.6
+     }
+    }
+   },
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+    "offset_rotvec": [
+     -0.1094,
+     -0.1264,
+     0.1388
+    ],
+    "dev_deg": {
+     "median": 6.95,
+     "p90": 25.98
+    },
+    "samples": 2649,
+    "accepted": 2457,
+    "wrist_pos_err_mm_median": 60.6,
+    "per_camera": {
+     "head": {
+      "samples": 2649,
+      "accepted": 2457,
+      "gate_deg": 30.0,
+      "offset_deg": 12.45,
+      "tier": "primary",
+      "dev_deg_median": 6.95,
+      "wrist_pos_err_mm_median": 60.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10053,
+     "interpolated": 2373,
+     "mean_hand": 29,
+     "no_body_fit": 29
+    },
+    "observed_fraction": 0.9954,
+    "observed_fraction_of_valid": 0.9977,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.05,
+     "smplx": 1.13
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.7,
+      "p90": 9.6
+     },
+     "registered": {
+      "median": 8.3,
+      "p90": 9.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:45:50.327607+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/P05/session_010",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260904/P05/20260904_021837_session9"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad8574f6a26c3d581c53238ad7c8447625ee3757
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:755a21db27eb62cbdb994812e599c28ef80cc73f36680adc582e1b5ef26ec3f6
+size 3647949
diff --git a/actions/locomotion_primitives/P05/session_010/motions/smplx.npz b/actions/locomotion_primitives/P05/session_010/motions/smplx.npz
index a13fa9a0b5d649d6b340708cab5004feb4ff3841..e72e6792a893280a21afac7d2934edb4aa71d171 100644
--- a/actions/locomotion_primitives/P05/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:994499d3d309b0d74779d72d7dd76045e25418ec2e0d27d1a030e48e84609814
-size 4791223
+oid sha256:0cd0dfba870e5ea12bb228d18251309a5d13dda0d793566f18b09fc5784f4ca0
+size 8962743
diff --git a/actions/locomotion_primitives/P05/session_011/annotations.json b/actions/locomotion_primitives/P05/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f7394df87484bc45e4e64bfb899b31da383370
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_011/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 68.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03862580498019508
+  }
+ ],
+ "episodes": [
+  {
+   "id": "0c982c2d-aaae-4275-8449-9c086f52f178",
+   "segment": "segment1",
+   "action": "P05",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 5.741,
+   "t_start": 0.0386,
+   "t_end": 5.7796,
+   "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
+  },
+  {
+   "id": "bc329827-ab35-4d73-b28c-ea617e76d952",
+   "segment": "segment1",
+   "action": "P05",
+   "quality": "valid",
+   "start_s": 7.657,
+   "end_s": 14.009,
+   "t_start": 7.6956,
+   "t_end": 14.0476,
+   "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
+  },
+  {
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--- /dev/null
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index 6bd445271a8f6bd5c8f1a22a81fc34f82b4487f9..b5269394bc72ade9514f8fb1ec1c23820cb01371 100644
--- a/actions/locomotion_primitives/P05/session_011/meta.json
+++ b/actions/locomotion_primitives/P05/session_011/meta.json
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@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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diff --git a/actions/locomotion_primitives/P05/session_012/cameras/slam.npz b/actions/locomotion_primitives/P05/session_012/cameras/slam.npz
new file mode 100644
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--- /dev/null
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index 34d24fdb225a43de06fb426497bc7a302be32328..2ab58740a6cfc7c855c7aa12ec87283b27b75575 100644
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  }
 }
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--- /dev/null
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+{
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diff --git a/actions/locomotion_primitives/P05/session_013/cameras/slam.npz b/actions/locomotion_primitives/P05/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8192081584a99315aceb932122ac8a9f576db4b
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 543295
diff --git a/actions/locomotion_primitives/P05/session_013/meta.json b/actions/locomotion_primitives/P05/session_013/meta.json
index 3bcdb39d492e16e7e442d5bcc9ccac4499584159..036f21b1d14a204a29a0c98cc59cd5cdb88a0c3e 100644
--- a/actions/locomotion_primitives/P05/session_013/meta.json
+++ b/actions/locomotion_primitives/P05/session_013/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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     "left": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7569752276856592
  },
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  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260914/P05/20260914_082617_session40"
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+ "task": {
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+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
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--- /dev/null
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+}
diff --git a/actions/locomotion_primitives/P05/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..81651dcbd17c96bc41bf1ad3a212922bdac6a61f
--- /dev/null
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@@ -0,0 +1,254 @@
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+  },
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+  }
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+ "output_sha256": "1c29477d1edba153d572730e50f4f94edfa839a106e9fa4baed3da44cceaa75b",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
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+  "left_eye": 21.534,
+  "left_front": 33.353,
+  "right": 35.787,
+  "right_eye": 21.466,
+  "right_front": 31.754
+ },
+ "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/P05/session_014/cameras/slam.npz b/actions/locomotion_primitives/P05/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7f411f7646d0b98e3e8ce501005f6c0c165ff809
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:098642f3ebc2a32d8e8573608da06abc452519119d17d41affa719a1bf58728e
+size 569099
diff --git a/actions/locomotion_primitives/P05/session_014/meta.json b/actions/locomotion_primitives/P05/session_014/meta.json
index 7688d9702411a17f5ee7a8c738cf9988920e5671..2967aaa535aab831e2407679cd34690bb08e459c 100644
--- a/actions/locomotion_primitives/P05/session_014/meta.json
+++ b/actions/locomotion_primitives/P05/session_014/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",
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     "left": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5325830897189349
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     "p90": 33.02
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+    "accepted": 2024,
+    "wrist_pos_err_mm_median": 45.7,
+    "per_camera": {
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+      "offset_deg": 23.05,
+      "tier": "primary",
+      "dev_deg_median": 12.17,
+      "wrist_pos_err_mm_median": 45.7
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+     "interpolated": 3446,
+     "mean_hand": 140,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9882,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.69
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+    "hand_marker_to_mesh_mm": {
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+    "palm_axis_vs_markers_deg": {
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+     },
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+      "median": 6.8,
+      "p90": 8.3
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+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:05:40.877217+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/P05/session_014",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260916/P05/20260916_052350_session82"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64ce873995c09dcad92ce4fba2ead26b87e68443
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1057c60eda8b58230cd85c766b58e0f473897551e7ead608324e6d1627e97cd
+size 2780375
diff --git a/actions/locomotion_primitives/P05/session_014/motions/smplx.npz b/actions/locomotion_primitives/P05/session_014/motions/smplx.npz
index 9672ccc8d739919784760a64b2ef1c228a121058..195c6a6a23f2a5c77c4dbc0b808caabc5009b890 100644
--- a/actions/locomotion_primitives/P05/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:0afa503baa02fcbfea889ce3be60de13615258666ccf7844269f3b72604f1f35
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diff --git a/actions/locomotion_primitives/P05/session_015/annotations.json b/actions/locomotion_primitives/P05/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f9b5d14409d68f7ac3e13cf22242c95f35c881d
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_015/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
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+   "video": "left_eye",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf9b1e92a945c9e261122b2c289dbe9172d03acd
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+ },
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+   "usable": true
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+    "right_eye",
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+ "factory_root_name": "e17c9efadb69e7b1",
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "99a19cefc0de887f2392f48a0393f015ba004838d6995d8be531e18a6f5342b0",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "31aa75e37bd5a80a",
+ "kind": "online_calibration",
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new file mode 100644
index 0000000000000000000000000000000000000000..3dc8925fa30ba3c48d823aec05636ac2883f1990
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P05/session_015/meta.json b/actions/locomotion_primitives/P05/session_015/meta.json
index ddf206a7b450244de836ca1410e58d0ed09212a8..e3f2ad376be782c3d7b069b0a1ac00786439214f 100644
--- a/actions/locomotion_primitives/P05/session_015/meta.json
+++ b/actions/locomotion_primitives/P05/session_015/meta.json
@@ -330,8 +330,8 @@
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@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "source_session": "20260919/P05/20260919_011810_session6"
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  }
 }
diff --git a/actions/locomotion_primitives/P05/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_015/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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--- /dev/null
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@@ -0,0 +1,127 @@
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+}
diff --git a/actions/locomotion_primitives/P05/session_016/cameras/slam.npz b/actions/locomotion_primitives/P05/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1d5da8b2e9de78ff61099d8425218b3d04bded79
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P05/session_016/meta.json b/actions/locomotion_primitives/P05/session_016/meta.json
index cea1a49caee711cbb0f33dfe0018dd75d5df8728..be0c59e66a9d117bfe628473e5cadab04356ac1e 100644
--- a/actions/locomotion_primitives/P05/session_016/meta.json
+++ b/actions/locomotion_primitives/P05/session_016/meta.json
@@ -325,8 +325,8 @@
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   "hands": {
-   "observed": false,
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@@ -512,10 +512,124 @@
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+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_016/motions/hands_mano.npz
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+ "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",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_017/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aafc42c7969298c490dcb283d18f5d9101716e3
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_017/cameras/gsi_online_calibration.json
@@ -0,0 +1,250 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.412
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9349,
+   "gate_fail": [],
+   "held_out_px_after": 0.567,
+   "held_out_px_before": 4.555,
+   "inliers": 1193,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2454,
+    -0.423,
+    -0.7967
+   ],
+   "split_deg": 0.0512,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.236,
+   "gate_fail": [],
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+   "held_out_px_before": 6.254,
+   "inliers": 1891,
+   "position_fitted": true,
+   "position_mm": [
+    6.0,
+    -17.11,
+    4.87
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+   "position_split_mm": 1.433,
+   "rotvec_deg": [
+    -0.1385,
+    0.8832,
+    -2.0495
+   ],
+   "split_deg": 0.068,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 1009,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.068,
+    -0.2582,
+    -0.255
+   ],
+   "split_deg": 0.078,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    7.3,
+    -19.47,
+    4.83
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+    -0.0113,
+    -0.3278,
+    -0.6858
+   ],
+   "split_deg": 0.0474,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 6.477,
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+    0.1757,
+    -1.8795
+   ],
+   "split_deg": 0.0238,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "sha256": "46db924634a6f713165b2d04e10c9cddd9ddadea6e2cfc3dd011155a98119812",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "aaf6286f40a0e5d472b52c800cfc84c30dde9bb436b3fec427d178f07cc23b31",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "640d5daa301988f0fe38f23aebff4730f94f0e49a63dd9d407b01391f384f86f",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ec46012443aef06f30d886efd210bca8b955d51e08b22683018837bc4b777a9d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "1a280e0d5beecdea",
+ "kind": "online_calibration",
+ "output_sha256": "459ff2bc0f7034449a210a0ca55d04dd837c538cb028856e9b41cc296896466d",
+ "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,
+  "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": 31.012,
+  "left_eye": 22.056,
+  "left_front": 33.921,
+  "right": 31.584,
+  "right_eye": 24.179,
+  "right_front": 30.734
+ },
+ "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/P05/session_017/cameras/slam.npz b/actions/locomotion_primitives/P05/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6aab52e125937bf012d812c0de8a81e8cbe7f557
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd6e8db0ebf7ea9977a560e1235fb7fec1e06b82c1389f24a1aa67dbeaa59aff
+size 455996
diff --git a/actions/locomotion_primitives/P05/session_017/meta.json b/actions/locomotion_primitives/P05/session_017/meta.json
index 83cf1c44c4e3b1cb48b1268b4ba161b46b2c5f80..831af1313ab5932f835d32328ae0fcdcbf11283e 100644
--- a/actions/locomotion_primitives/P05/session_017/meta.json
+++ b/actions/locomotion_primitives/P05/session_017/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": 0.9221215267152121
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.0212,
+     0.0795,
+     -0.1215
+    ],
+    "dev_deg": {
+     "median": 5.79,
+     "p90": 15.91
+    },
+    "samples": 2086,
+    "accepted": 2064,
+    "wrist_pos_err_mm_median": 53.0,
+    "per_camera": {
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+      "samples": 2086,
+      "accepted": 2064,
+      "gate_deg": 30.0,
+      "offset_deg": 8.41,
+      "tier": "primary",
+      "dev_deg_median": 5.79,
+      "wrist_pos_err_mm_median": 53.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8334,
+     "interpolated": 1138,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9987,
+    "observed_fraction_of_valid": 0.9987,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.45,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 13.6
+     },
+     "registered": {
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+      "p90": 13.8
+     }
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+   },
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+     0.2979
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+    "dev_deg": {
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+     "p90": 12.8
+    },
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+    "accepted": 1853,
+    "wrist_pos_err_mm_median": 35.5,
+    "per_camera": {
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+      "accepted": 1853,
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+      "offset_deg": 20.51,
+      "tier": "primary",
+      "dev_deg_median": 4.15,
+      "wrist_pos_err_mm_median": 35.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1808,
+     "mean_hand": 192,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9798,
+    "observed_fraction_of_valid": 0.9798,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.42,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.5,
+      "p90": 28.0
+     },
+     "registered": {
+      "median": 12.4,
+      "p90": 26.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:46:50.433308+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/P05/session_017",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20260921/P05/20260921_060638_session118"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_017/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9a1b7ec3d4e5fb46caa1d24e543ae10e06ba3b18
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_017/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:447d6c8200ec0ddf1962295003c9875fcb23a2f64a421ce60fc9317387fc97cf
+size 2716537
diff --git a/actions/locomotion_primitives/P05/session_017/motions/smplx.npz b/actions/locomotion_primitives/P05/session_017/motions/smplx.npz
index 96950902da85715f0b6cc877b6b2ecc9a2deb281..0bfccf3e977f0565c2b0e49deefb72a146c56230 100644
--- a/actions/locomotion_primitives/P05/session_017/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_017/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c3f2328336823c398e0cbff12c032e77f5773b34d6ae0a8fd9be49e343788012
-size 3651409
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+size 6824150
diff --git a/actions/locomotion_primitives/P05/session_018/annotations.json b/actions/locomotion_primitives/P05/session_018/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6c670bd69d3aae97fc965d846f3c41cc888a8a
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_018/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966667,
+   "video": "left_eye",
+   "video_t_start": 0.0391502552095504
+  }
+ ],
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+}
diff --git a/actions/locomotion_primitives/P05/session_018/cameras/slam.npz b/actions/locomotion_primitives/P05/session_018/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bac90d1f9efe782bc5500ce8d855256bfc8852c2
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_018/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c01550f65dd415b59511990a7b55b7a9e71be8654066f6dee5bc1176b07956
+size 713873
diff --git a/actions/locomotion_primitives/P05/session_018/meta.json b/actions/locomotion_primitives/P05/session_018/meta.json
index 9d65303c46b87b884ce974967f6cec9084ca5107..3ec4d784569d0159637d708d72dfba825704e367 100644
--- a/actions/locomotion_primitives/P05/session_018/meta.json
+++ b/actions/locomotion_primitives/P05/session_018/meta.json
@@ -324,8 +324,8 @@
   "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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@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9255570714189292
  },
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+  "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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   "family": "locomotion_primitives",
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   "source_session": "20260929/P05/20260929_060617_session112"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_018/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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+size 4313164
diff --git a/actions/locomotion_primitives/P05/session_018/motions/smplx.npz b/actions/locomotion_primitives/P05/session_018/motions/smplx.npz
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+++ b/actions/locomotion_primitives/P05/session_018/motions/smplx.npz
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-size 5732434
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_019/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
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+}
diff --git a/actions/locomotion_primitives/P05/session_019/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_019/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7669a40ecebc3308778803f72b1c8d8013885ba
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_019/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
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+  },
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+  "right_eye-left_eye": 1.0,
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+  "right_front-left_eye": 0.723,
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+  "right_front-right_eye": 0.734
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+  "left_front": 40.051,
+  "right": 30.383,
+  "right_eye": 25.053,
+  "right_front": 39.037
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+ "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/P05/session_019/cameras/slam.npz b/actions/locomotion_primitives/P05/session_019/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e19f85e021569c1a1bde4e84a948043f2201dcf6
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_019/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2960fc5f6eddb88f2a088d2892612f267c24ae32d519236df0a4b95877a6baf
+size 569871
diff --git a/actions/locomotion_primitives/P05/session_019/meta.json b/actions/locomotion_primitives/P05/session_019/meta.json
index 05dd5f628a8d9942be10091e9b6a97818d5c2ab1..b915cfa2d89cafab3c5d961dff556d0c6757d6e9 100644
--- a/actions/locomotion_primitives/P05/session_019/meta.json
+++ b/actions/locomotion_primitives/P05/session_019/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": {
@@ -505,10 +505,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.281708060866206
  },
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+    "accepted": 2401,
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+     "interpolated": 2058,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.999,
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:26:13.836074+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": "P05",
   "source_session": "20260929/P05/20260929_103756_session203"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_019/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb1c0ca627a0753a1b7987b7a3daa428b4a5e5cd
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaadf9968519dc7d34e1ea14cc2eb9aa3ead3643df7751a29e2838eed4d7ae96
+size 3341083
diff --git a/actions/locomotion_primitives/P05/session_019/motions/smplx.npz b/actions/locomotion_primitives/P05/session_019/motions/smplx.npz
index 3052287239522c466307e86097fd18bc83c7b9bb..26dccaf9184a159676007236ec2626d193c2870c 100644
--- a/actions/locomotion_primitives/P05/session_019/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_019/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4566105
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diff --git a/actions/locomotion_primitives/P05/session_020/annotations.json b/actions/locomotion_primitives/P05/session_020/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..873530b1c438a8092c2a7789f71086a039697382
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_020/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P05",
+ "instruction": "Start at normal speed; gradually slow over several steps; stop gently.",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_020/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_020/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b937e07f462b77aeba461949236c5effeaabb29a
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_020/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+  },
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "cbcd202c0b63663d740c3a792394fd288f22b8216135d4bae822ac7cc1c44d13",
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P05/session_020/cameras/slam.npz b/actions/locomotion_primitives/P05/session_020/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c74b2c57f0a894511bd9e2d7a1cf56609789c345
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_020/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 627400
diff --git a/actions/locomotion_primitives/P05/session_020/meta.json b/actions/locomotion_primitives/P05/session_020/meta.json
index 459f7acf0c051ecd86732d6b6aa479de292393bf..cdc2b02ecc363d217816dea04c33ac357d91af08 100644
--- a/actions/locomotion_primitives/P05/session_020/meta.json
+++ b/actions/locomotion_primitives/P05/session_020/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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+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
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     "left": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260930/P05/20260930_023222_session41"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P05/session_020/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_020/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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+size 3052392
diff --git a/actions/locomotion_primitives/P05/session_020/motions/smplx.npz b/actions/locomotion_primitives/P05/session_020/motions/smplx.npz
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--- a/actions/locomotion_primitives/P05/session_020/motions/smplx.npz
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new file mode 100644
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+}
diff --git a/actions/locomotion_primitives/P05/session_021/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_021/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..72128260ad5cc17b9cd71d6040bb4eb557b273eb
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_021/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..28ba1d6eada4e8dd473738caab61217d87d62f0f
--- /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/P05/session_021/meta.json b/actions/locomotion_primitives/P05/session_021/meta.json
index e55224d492c78cc7783868bd8625e146ee116755..7440820cb8fb17445e114fb86588b1ed9a555a2f 100644
--- a/actions/locomotion_primitives/P05/session_021/meta.json
+++ b/actions/locomotion_primitives/P05/session_021/meta.json
@@ -326,8 +326,8 @@
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   "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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@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3336650064654492
  },
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+ },
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   "family": "locomotion_primitives",
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   "source_session": "20260930/P05/20260930_082153_session95"
+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/P05/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_021/motions/hands_mano.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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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_022/annotations.json
@@ -0,0 +1,127 @@
+{
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+}
diff --git a/actions/locomotion_primitives/P05/session_022/cameras/slam.npz b/actions/locomotion_primitives/P05/session_022/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8265ead1022a77b3df23fb57540cfc8da2847a69
--- /dev/null
+++ b/actions/locomotion_primitives/P05/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/P05/session_022/meta.json b/actions/locomotion_primitives/P05/session_022/meta.json
index 079ac1fed79c5972b1016b7bbdb1fb9ee4443f86..3159d44350e43f29b133ace9a47d926df3559f6e 100644
--- a/actions/locomotion_primitives/P05/session_022/meta.json
+++ b/actions/locomotion_primitives/P05/session_022/meta.json
@@ -363,8 +363,8 @@
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   "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": {
@@ -504,10 +504,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_022/motions/hands_mano.npz
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P05/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P05/session_023/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d0c624e47be0565f23b823c0b64798003902a8c
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_023/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.428
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+   "inliers": 2315,
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+    -0.1793,
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+   ],
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+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "inliers": 3099,
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+     5.34,
+     -21.13,
+     -5.2
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+    "position_split_mm": 13.242
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+    2.0688,
+    -0.915,
+    1.938
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+   "usable": true
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+    "left_front",
+    "right_front",
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+    3.0276
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+  },
+  "right_eye": {
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    2.3097
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+    "left_front",
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+    "right_eye",
+    "left",
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+    -0.4194,
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+ },
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+   "sha256": "e22ba0e0884c47158b8706939003d1e062d0feea3d7680a983ae09914b63aac3",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
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+   "sha256": "b869817edccde1f0888ffe0714ffc202ede15c6f93d5b4d23fe58c9f73f47ac8",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
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+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "ebd0f9bc29d063cc",
+ "kind": "online_calibration",
+ "output_sha256": "1011ee82300beed5d7807860e0ff2f71a559caad8b37bf395edeac8eaedadfc2",
+ "overlap": {
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+  "left_front-right_eye": 0.698,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.699,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.706,
+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
+  "left": 38.928,
+  "left_eye": 35.484,
+  "left_front": 35.346,
+  "right": 36.374,
+  "right_eye": 36.011,
+  "right_front": 33.918
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   5307106130222,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P05/session_023/cameras/slam.npz b/actions/locomotion_primitives/P05/session_023/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7909e4ea584bb9a00e153bb142c050f215505bf2
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_023/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb97f493f5bd462e135bcfe29fbd04f0e8fe0b56704de56adfce7036c713fcb8
+size 626404
diff --git a/actions/locomotion_primitives/P05/session_023/meta.json b/actions/locomotion_primitives/P05/session_023/meta.json
index f2b9f0a53835e7e5a0e5880c3f1404ead732de71..2bfed6e538e044ee0e91b86ef9bf12d2d09850b5 100644
--- a/actions/locomotion_primitives/P05/session_023/meta.json
+++ b/actions/locomotion_primitives/P05/session_023/meta.json
@@ -385,8 +385,8 @@
   "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": {
@@ -537,10 +537,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 31.96,
+    "offset_rotvec": [
+     0.2638,
+     -0.4441,
+     0.2102
+    ],
+    "dev_deg": {
+     "median": 14.84,
+     "p90": 27.13
+    },
+    "samples": 2474,
+    "accepted": 2347,
+    "wrist_pos_err_mm_median": 55.4,
+    "per_camera": {
+     "head": {
+      "samples": 2474,
+      "accepted": 2347,
+      "gate_deg": 30.0,
+      "offset_deg": 31.96,
+      "tier": "primary",
+      "dev_deg_median": 14.84,
+      "wrist_pos_err_mm_median": 55.4
+     }
+    },
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+     "interpolated": 3238,
+     "mean_hand": 136,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9896,
+    "observed_fraction_of_valid": 0.9896,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 29.04,
+     "smplx": 0.55
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 10.7
+     },
+     "registered": {
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+      "p90": 10.8
+     }
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+    "offset_rotvec": [
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+     0.0875
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+    "dev_deg": {
+     "median": 19.2,
+     "p90": 34.61
+    },
+    "samples": 2942,
+    "accepted": 2504,
+    "wrist_pos_err_mm_median": 69.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 2504,
+      "gate_deg": 30.0,
+      "offset_deg": 16.12,
+      "tier": "primary",
+      "dev_deg_median": 19.2,
+      "wrist_pos_err_mm_median": 69.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2186,
+     "mean_hand": 588,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.955,
+    "observed_fraction_of_valid": 0.955,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.43
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 15.9
+     },
+     "registered": {
+      "median": 9.6,
+      "p90": 14.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:32:57.313604+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/P05/session_023",
   "family": "locomotion_primitives",
   "primitive": "P05",
   "source_session": "20261019/P05/20261019_020907_session21"
+ },
+ "task": {
+  "primitive": "P05",
+  "instruction": "Start at normal speed; gradually slow over several steps; stop gently."
  }
 }
diff --git a/actions/locomotion_primitives/P05/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P05/session_023/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd02933d67b9b0b47c434226e8ddf461c83adbb0
--- /dev/null
+++ b/actions/locomotion_primitives/P05/session_023/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2e39c23970e71cafa8c5770cfce3364062431246e42ed582e299d42ac67f906
+size 3677142
diff --git a/actions/locomotion_primitives/P05/session_023/motions/smplx.npz b/actions/locomotion_primitives/P05/session_023/motions/smplx.npz
index f16d4236c5bb609eaf654a94247f1c035e7e07dc..bd8f9d4acde8afb80951e4cda5737bf78b8a9019 100644
--- a/actions/locomotion_primitives/P05/session_023/motions/smplx.npz
+++ b/actions/locomotion_primitives/P05/session_023/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:61474d4cf194a013132bcf7b8a4720febdc4f69ac4a34566c3a1c745eb290f69
-size 5013120
+oid sha256:9b5dd1dc2ca6d98db249199c6fa205a9ce6e57f902cea96d6c06d59a401ad307
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diff --git a/actions/locomotion_primitives/P06/session_001/annotations.json b/actions/locomotion_primitives/P06/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f28035250811b816d4ae2de9ba392e532f14456e
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 108.9665,
+   "video": "left_eye",
+   "video_t_start": 0.03871777304543489
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
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+   "end_s": 8.1,
+   "t_start": 1.8047,
+   "t_end": 8.1387,
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+  },
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+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2183dc56f4f7b34a5b3f8cbe414d008620a5fc3
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 248,
+    "median_px": 19.23,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.33
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 7.443,
+   "inliers": 1755,
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+   "rotvec_deg": [
+    -0.1238,
+    0.7261,
+    0.5232
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+   "split_deg": 0.0932,
+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    10.64,
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+    0.7505,
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+   "usable": true
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+   "role": "rig origin"
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.0587,
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+   "usable": true
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+    "right_front",
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+    "left",
+    "right"
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+    11.54,
+    6.67
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+   "rotvec_deg": [
+    0.256,
+    0.403,
+    -0.641
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+  },
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+   "accepted": true,
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+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+    0.4515,
+    -1.6136
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  }
+ },
+ "input_fingerprint": "1a4cfd699c081557",
+ "kind": "online_calibration",
+ "output_sha256": "14904286309f8f28a31337fe10b2758b2bdc5745c72f4e61a7b3f39796e8fabe",
+ "overlap": {
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+  "right_eye-left": 0.708,
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+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 43.221,
+  "left_front": 45.644,
+  "right": 43.033,
+  "right_eye": 43.623,
+  "right_front": 44.702
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+   5891823124444,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P06/session_001/cameras/slam.npz b/actions/locomotion_primitives/P06/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bb2af52412f7c0ce9ef7e574a2eab70d8b92de8c
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f9b77f0b355929259102e57a1dcdf650ddd0ae0d865a2eb8a2c955dd1ea6c9
+size 623376
diff --git a/actions/locomotion_primitives/P06/session_001/meta.json b/actions/locomotion_primitives/P06/session_001/meta.json
index 69d56d081b127d468bdbe5cda84a9eadf0f2f994..0bfd845cf7ed5ca79a04eaeba1e0704a7009cb1f 100644
--- a/actions/locomotion_primitives/P06/session_001/meta.json
+++ b/actions/locomotion_primitives/P06/session_001/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.5,
+    "offset_rotvec": [
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+     -0.2204,
+     -0.0736
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+     "median": 6.23,
+     "p90": 16.96
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+    "samples": 2889,
+    "accepted": 2814,
+    "wrist_pos_err_mm_median": 39.3,
+    "per_camera": {
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+      "accepted": 2814,
+      "gate_deg": 30.0,
+      "offset_deg": 15.5,
+      "tier": "primary",
+      "dev_deg_median": 6.23,
+      "wrist_pos_err_mm_median": 39.3
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1676,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9991,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.04,
+     "smplx": 0.96
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.2
+     },
+     "registered": {
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+     }
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+     "p90": 27.79
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+    "accepted": 2569,
+    "wrist_pos_err_mm_median": 60.3,
+    "per_camera": {
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+      "accepted": 2569,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 60.3
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+     "interpolated": 2160,
+     "mean_hand": 476,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9636,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.1
+     },
+     "registered": {
+      "median": 5.8,
+      "p90": 7.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:24:40.121109+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/P06/session_001",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260828/P06/20260828_023722_session249"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2662e4048fc6e1fc0a00f86eba68c33872d14ad8
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9746cab7ce6df23b24dfef8fa0f6d05fcecab42f358759a7f6b4d385ba8c2357
+size 3865289
diff --git a/actions/locomotion_primitives/P06/session_001/motions/smplx.npz b/actions/locomotion_primitives/P06/session_001/motions/smplx.npz
index 096d24feb99fbc87f6b1203dc9ebfb57a5046642..8cd11389a7b6bf88d7f89444b4ff75aae28b5514 100644
--- a/actions/locomotion_primitives/P06/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5003055
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diff --git a/actions/locomotion_primitives/P06/session_002/annotations.json b/actions/locomotion_primitives/P06/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f3b01aab1b2f71a357441bd41e85dff9f666a7
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
+ "segments": [
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+   "duration_s": 113.966556,
+   "video": "left_eye",
+   "video_t_start": 0.037757138456083306
+  }
+ ],
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+   "end_s": 93.555,
+   "t_start": 86.1748,
+   "t_end": 93.5928,
+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  },
+  {
+   "id": "4ae77e7f-1a67-4b44-b0cc-88ee34263ad3",
+   "segment": "segment1",
+   "action": "P06",
+   "quality": "valid",
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+   "end_s": 105.075,
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+   "t_end": 105.1128,
+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..807f62a56f5b318eb1430b726da134032cb7e98e
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 146,
+    "median_px": 23.73,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.34
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9555,
+   "gate_fail": [],
+   "held_out_px_after": 0.528,
+   "held_out_px_before": 7.516,
+   "inliers": 1435,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.008,
+    0.8293,
+    0.4746
+   ],
+   "split_deg": 0.1011,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0474,
+   "gate_fail": [],
+   "held_out_px_after": 0.331,
+   "held_out_px_before": 2.08,
+   "inliers": 2628,
+   "position_fitted": true,
+   "position_mm": [
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+    11.06,
+    13.35
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+   "position_split_mm": 1.368,
+   "rotvec_deg": [
+    0.1341,
+    0.7024,
+    -0.7654
+   ],
+   "split_deg": 0.0336,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3593,
+   "gate_fail": [],
+   "held_out_px_after": 0.491,
+   "held_out_px_before": 2.029,
+   "inliers": 1838,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3323,
+    -0.0938,
+    -0.0992
+   ],
+   "split_deg": 0.0275,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.738,
+   "gate_fail": [],
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+   "held_out_px_before": 1.558,
+   "inliers": 2587,
+   "position_fitted": true,
+   "position_mm": [
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+    9.33,
+    11.35
+   ],
+   "position_sigma_mm": 0.388,
+   "position_split_mm": 4.469,
+   "rotvec_deg": [
+    0.139,
+    0.3709,
+    -0.6227
+   ],
+   "split_deg": 0.0889,
+   "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": 7.447,
+   "inliers": 4252,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3408,
+    0.4627,
+    -1.626
+   ],
+   "split_deg": 0.0289,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "693f4137d50a43afa50069eee1f3380875d8f8b0686fabf593eca69974481f78",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c4515e1b0bace8865cc1b15a235d400aaa9380cd0aa05a6952446d91200b8b44",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3aa20b46a29715669fc315e48301a1562bc64aa576b707be99184a4cb134fec8",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "eb9b94c18f8b4fc0098fd61121486f182a0990851774cf2922c58a7a00c57eab",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "2dbb9c16170b34b2",
+ "kind": "online_calibration",
+ "output_sha256": "dc1cc3949a9f7903392a849150409527fdb8479970c506ec28f94cde8613e8b0",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 47.463,
+  "left_eye": 43.36,
+  "left_front": 43.224,
+  "right": 41.114,
+  "right_eye": 42.932,
+  "right_front": 43.126
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   5914110930111,
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+   5920110919000,
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+   6020110907888,
+   6021110907888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P06/session_002/cameras/slam.npz b/actions/locomotion_primitives/P06/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ad36787a7c2b79e6f492b01533a3682845caeee
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:797a94dd7022c53f4e64187790cb14dab257d06058e96a97c93db3163cc65155
+size 650649
diff --git a/actions/locomotion_primitives/P06/session_002/meta.json b/actions/locomotion_primitives/P06/session_002/meta.json
index d863a6be3028b067cfb4a39c68c08c7440c766dd..ae2ddc18ee81ecd541d0b6b8cfadb4e9ada9f042 100644
--- a/actions/locomotion_primitives/P06/session_002/meta.json
+++ b/actions/locomotion_primitives/P06/session_002/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.65,
+    "offset_rotvec": [
+     -0.1148,
+     -0.2544,
+     -0.081
+    ],
+    "dev_deg": {
+     "median": 6.78,
+     "p90": 16.53
+    },
+    "samples": 2982,
+    "accepted": 2934,
+    "wrist_pos_err_mm_median": 39.1,
+    "per_camera": {
+     "head": {
+      "samples": 2982,
+      "accepted": 2934,
+      "gate_deg": 30.0,
+      "offset_deg": 16.65,
+      "tier": "primary",
+      "dev_deg_median": 6.78,
+      "wrist_pos_err_mm_median": 39.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11872,
+     "interpolated": 1800,
+     "mean_hand": 10,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.88,
+     "smplx": 0.85
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.1,
+      "p90": 12.9
+     },
+     "registered": {
+      "median": 10.1,
+      "p90": 13.9
+     }
+    }
+   },
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+    "offset_rotvec": [
+     -0.0877,
+     -0.0438,
+     0.1276
+    ],
+    "dev_deg": {
+     "median": 6.92,
+     "p90": 20.92
+    },
+    "samples": 2952,
+    "accepted": 2806,
+    "wrist_pos_err_mm_median": 48.6,
+    "per_camera": {
+     "head": {
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+      "accepted": 2806,
+      "gate_deg": 30.0,
+      "offset_deg": 9.22,
+      "tier": "primary",
+      "dev_deg_median": 6.92,
+      "wrist_pos_err_mm_median": 48.6
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2266,
+     "mean_hand": 10,
+     "no_body_fit": 2
+    },
+    "observed_fraction": 0.9991,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.37,
+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.1,
+      "p90": 6.8
+     },
+     "registered": {
+      "median": 5.7,
+      "p90": 6.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:24:48.521330+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/P06/session_002",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260828/P06/20260828_023926_session250"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e626fc1c3e905996c4a39a5330c31320ecd7263b
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe38d8a064f78fb9b30738c8ac77a6b64d7c6fa9a9399027ed59958d538dbf93
+size 4034515
diff --git a/actions/locomotion_primitives/P06/session_002/motions/smplx.npz b/actions/locomotion_primitives/P06/session_002/motions/smplx.npz
index 4a6aeb26cf8e659ad98112d098a20b7ef4895611..7ab3f6ef2183298226d59d554fa2c821d33a86a0 100644
--- a/actions/locomotion_primitives/P06/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c8582bd438301c389c300df8ca49d58bd4ebfe07d986d8ea37dc277d66a8ae0a
-size 5229556
+oid sha256:e1cffa535e4836046e7f04e096bb6945308d7fd32fab2ec49dbec4edd1d0a74b
+size 9827467
diff --git a/actions/locomotion_primitives/P06/session_003/annotations.json b/actions/locomotion_primitives/P06/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..842a18ec9f53ab1afc6493c786125c5e3e14edfe
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_003/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966644,
+   "video": "left_eye",
+   "video_t_start": 0.038717305953026804
+  }
+ ],
+ "episodes": [
+  {
+   "id": "bcc3300c-550f-45d7-9aa6-bf61826db3d6",
+   "segment": "segment1",
+   "action": "P06",
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+   "end_s": 6.97,
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+   "t_end": 7.0087,
+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  },
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+   "segment": "segment1",
+   "action": "P06",
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+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  },
+  {
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+   "segment": "segment1",
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+  },
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+   "t_start": 82.2107,
+   "t_end": 89.0007,
+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P06",
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+   "end_s": 99.169,
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+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..51461727124a77ef8f67581c41806bf9550843ca
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
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+    "right_front",
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_eye": 34.636,
+  "left_front": 41.601,
+  "right": 39.24,
+  "right_eye": 37.496,
+  "right_front": 42.243
+ },
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P06/session_003/cameras/slam.npz b/actions/locomotion_primitives/P06/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..75bb385ce0681238f77c4b4bd32d8de7ef5e9b85
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f07923239ea1f727c5d33a9bd858a396900287d405598fff4e9c5d9b36c9397e
+size 595085
diff --git a/actions/locomotion_primitives/P06/session_003/meta.json b/actions/locomotion_primitives/P06/session_003/meta.json
index 26f9ba1a3ec44434f5a112acf9df9f98f16a5d86..322bedfed4ea36aada28834c34d33366ec59bde6 100644
--- a/actions/locomotion_primitives/P06/session_003/meta.json
+++ b/actions/locomotion_primitives/P06/session_003/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
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+    "offset_rotvec": [
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+    "wrist_pos_err_mm_median": 90.3,
+    "per_camera": {
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+      "tier": "primary",
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+     "interpolated": 1212,
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.78
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+      "p90": 8.1
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:51:15.119244+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": "P06",
   "source_session": "20260831/P06/20260831_064613_session18"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..771a203d47317434f6e21c67d31cbd9a71cbd326
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b938085fc55bcd6aa5cc4f7a2ded978c4b5d67cb357bf4e29338858896c82d3
+size 3768881
diff --git a/actions/locomotion_primitives/P06/session_003/motions/smplx.npz b/actions/locomotion_primitives/P06/session_003/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4768251
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diff --git a/actions/locomotion_primitives/P06/session_004/annotations.json b/actions/locomotion_primitives/P06/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ee52cdc76abe1548d75fdc6a00ad4df6ddd422
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_004/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5afd6ad81512e51514c73bd368ca50f31efae08
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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+ },
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+    0.6531,
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+   "against": [
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+    "left_eye",
+    "left",
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+  },
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+  }
+ },
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_eye": 37.439,
+  "left_front": 43.784,
+  "right": 35.526,
+  "right_eye": 38.806,
+  "right_front": 43.298
+ },
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P06/session_004/cameras/slam.npz b/actions/locomotion_primitives/P06/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0ac87e857f58ca9a20fc7cc65be44a7ae65a188
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fee270a22266f49e85cfdd0e243ae1eb5698bcd43b2ce45e618e6518b692665b
+size 567747
diff --git a/actions/locomotion_primitives/P06/session_004/meta.json b/actions/locomotion_primitives/P06/session_004/meta.json
index db06e5aa4bc5acfd83266863f4b28fcd4eb6ad7d..3b2cc257385bcfdb488d94844a61ca4a43beed66 100644
--- a/actions/locomotion_primitives/P06/session_004/meta.json
+++ b/actions/locomotion_primitives/P06/session_004/meta.json
@@ -334,8 +334,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
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+      "accepted": 2415,
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+      "tier": "primary",
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+     }
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+     "interpolated": 2034,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.99
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:53:44.119154+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": "P06",
   "source_session": "20260831/P06/20260831_064810_session19"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_004/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_004/motions/hands_mano.npz
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+version https://git-lfs.github.com/spec/v1
+oid sha256:980b392e1b42eb0e1ed140ab34e5035f84a9125e7616ce6f4ef3ee0dc6284ddf
+size 3358764
diff --git a/actions/locomotion_primitives/P06/session_004/motions/smplx.npz b/actions/locomotion_primitives/P06/session_004/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_004/motions/smplx.npz
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-size 4558726
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new file mode 100644
index 0000000000000000000000000000000000000000..a2d366ebeb59bdc026f30e86078bbecdeab75aec
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_005/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5cc4402e4bc5bfa0a82321a2c086727bd586c0
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
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+ },
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+    0.8759,
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
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+  "left_front": 43.502,
+  "right": 35.633,
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+  "right_front": 42.505
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P06/session_005/cameras/slam.npz b/actions/locomotion_primitives/P06/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a420d279e6221a72ec22c2f0012abfaed9162cf8
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2b0d9c2bf5c8bff6e6b50e2ccfef02c83974506d4f9b92f32555d6bdf12e03
+size 680079
diff --git a/actions/locomotion_primitives/P06/session_005/meta.json b/actions/locomotion_primitives/P06/session_005/meta.json
index 62075ee4c227a0288f56f4c6a66e9e9956f536c8..50d2af9e0b51c0e4137b3e4e46be34aafa8709fd 100644
--- a/actions/locomotion_primitives/P06/session_005/meta.json
+++ b/actions/locomotion_primitives/P06/session_005/meta.json
@@ -334,8 +334,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
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+  "hands": {
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+    "accepted": 3172,
+    "wrist_pos_err_mm_median": 50.1,
+    "per_camera": {
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+      "tier": "primary",
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+     "interpolated": 1444,
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
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+      "p90": 5.5
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+   }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:53:48.225212+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": "P06",
   "source_session": "20260831/P06/20260831_073939_session28"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1a96cdf451d036e7b094b208cf9f8a20870bf3e
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b91ba20d638774676e0d0f4c549b0292428c344570fb3ebecdc06b7b451fd30
+size 4322875
diff --git a/actions/locomotion_primitives/P06/session_005/motions/smplx.npz b/actions/locomotion_primitives/P06/session_005/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5462989
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_006/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b9279599758751e3b49a0a127b22d0944b8b75c
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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+ },
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+   "usable": true
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+  "right_front": 44.618
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+}
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diff --git a/actions/locomotion_primitives/P06/session_006/cameras/slam.npz b/actions/locomotion_primitives/P06/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..885bf885cea8400dc0fa15d601c16412b80f2105
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb27f3b7db90981ed59cda56a2816b6150837a7e4f75295927738d7c8a22d79
+size 623840
diff --git a/actions/locomotion_primitives/P06/session_006/meta.json b/actions/locomotion_primitives/P06/session_006/meta.json
index 20906d32da5f668ac20f42f79ab96ec33080a459..2b1fe4a54a4fb85e6c614aa6a520a12e883a9640 100644
--- a/actions/locomotion_primitives/P06/session_006/meta.json
+++ b/actions/locomotion_primitives/P06/session_006/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
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+      "tier": "primary",
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+     }
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T12:54:01.430093+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": "P06",
   "source_session": "20260831/P06/20260831_082927_session44"
+ },
+ "task": {
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+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c27daa3106d1714128b6eb276638693721f4ad9
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4017868
diff --git a/actions/locomotion_primitives/P06/session_006/motions/smplx.npz b/actions/locomotion_primitives/P06/session_006/motions/smplx.npz
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+++ b/actions/locomotion_primitives/P06/session_006/motions/smplx.npz
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-size 5004185
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_007/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P06",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..239baa2fee4c44e0e68bc96818811e4ff07113cf
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
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+ },
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+  "right_eye": 39.975,
+  "right_front": 48.698
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+ "runtime": {
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diff --git a/actions/locomotion_primitives/P06/session_007/cameras/slam.npz b/actions/locomotion_primitives/P06/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d8764dcf6fc2b6f9ea7bacc63b0e0b1c125b910
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 822361
diff --git a/actions/locomotion_primitives/P06/session_007/meta.json b/actions/locomotion_primitives/P06/session_007/meta.json
index 75ef97bdc200c75860aa4e1a76348009b40035a0..0ffbc9598b0d08ce43300bab3e3d99934f2b9d20 100644
--- a/actions/locomotion_primitives/P06/session_007/meta.json
+++ b/actions/locomotion_primitives/P06/session_007/meta.json
@@ -334,8 +334,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+    "accepted": 3821,
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+      "tier": "primary",
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:54:06.624826+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",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260831/P06/20260831_091618_session64"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12a0086f90a96c940f01f1a1b266f5ae0704988e
--- /dev/null
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+size 5257929
diff --git a/actions/locomotion_primitives/P06/session_007/motions/smplx.npz b/actions/locomotion_primitives/P06/session_007/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_007/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,127 @@
+{
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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": "P06",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..048070f5b1a07e810aba31808b0f92ce08dcd18c
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  }
+ },
+ "input_fingerprint": "c8c1a6db04e495d5",
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+  "left_front-right": 0.464,
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+  "left_front-right_front": 1.0,
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+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 36.394,
+  "left_front": 46.744,
+  "right": 34.914,
+  "right_eye": 38.699,
+  "right_front": 47.463
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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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/P06/session_008/cameras/slam.npz b/actions/locomotion_primitives/P06/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a1059f8ae7370d023e94a8832a402d983d43d316
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be23a8486e5364b1b7de09fe813e4eed87a0ea9ea7bfcd58f66bdb5bf03975ce
+size 623885
diff --git a/actions/locomotion_primitives/P06/session_008/meta.json b/actions/locomotion_primitives/P06/session_008/meta.json
index 79373b65ff5563f6cff0fb82dc197e2480a31f9c..d9aec8e082cb6bdbf7d9f2d96b4662c8291b07c0 100644
--- a/actions/locomotion_primitives/P06/session_008/meta.json
+++ b/actions/locomotion_primitives/P06/session_008/meta.json
@@ -335,8 +335,8 @@
   "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": {
@@ -516,10 +516,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.74,
+    "offset_rotvec": [
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+     -0.2622,
+     -0.0382
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+     "p90": 21.69
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+    "samples": 2863,
+    "accepted": 2731,
+    "wrist_pos_err_mm_median": 63.3,
+    "per_camera": {
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+      "accepted": 2731,
+      "gate_deg": 30.0,
+      "offset_deg": 16.74,
+      "tier": "primary",
+      "dev_deg_median": 8.86,
+      "wrist_pos_err_mm_median": 63.3
+     }
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+     "interpolated": 1806,
+     "mean_hand": 196,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.985,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.03
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+    "hand_marker_to_mesh_mm": {
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+     }
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+    "accepted": 2557,
+    "wrist_pos_err_mm_median": 85.1,
+    "per_camera": {
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+     "smplx": 0.73
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.4
+     },
+     "registered": {
+      "median": 6.1,
+      "p90": 7.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:54:03.926554+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": "P06",
   "source_session": "20260831/P06/20260831_091855_session65"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dd99ba9d70be39febe1097221fc3f675eab5b01
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f659a4d0da1abd573c7eee669b3ba3dcdcb744c5c352cc65df67e9144c66862
+size 3833306
diff --git a/actions/locomotion_primitives/P06/session_008/motions/smplx.npz b/actions/locomotion_primitives/P06/session_008/motions/smplx.npz
index 06084ccd92fa8114dca09f243556fbc345163ede..d2505919b3f19ae442a54d1aa4b170c358001ea5 100644
--- a/actions/locomotion_primitives/P06/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P06/session_009/annotations.json b/actions/locomotion_primitives/P06/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a591e2a58aab38bece79467ef94fb65c07e726e5
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_009/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
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+   "video": "left_eye",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6870450f54510ca8ed05f2fc31a982bd97a35224
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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+ },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "984271d54ff26984a9c4e732c6042e22d502a15834863f47aeb80e477f14d14d",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+  "left_front-right_front": 1.0,
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+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 38.14,
+  "left_front": 45.878,
+  "right": 41.548,
+  "right_eye": 40.54,
+  "right_front": 45.656
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P06/session_009/cameras/slam.npz b/actions/locomotion_primitives/P06/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db2284ba975672c8f1e4572550ca820080755e94
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db77d832991a6e461ecd9e371d2bb39e95eaced2efbd1efbb37e6ee0cdc7362
+size 735647
diff --git a/actions/locomotion_primitives/P06/session_009/meta.json b/actions/locomotion_primitives/P06/session_009/meta.json
index e692886d7b4f86fa99fbc01b94d8dcba7423bec5..9ebfbfcb8be2d4b5919785fb474424c8281f46b4 100644
--- a/actions/locomotion_primitives/P06/session_009/meta.json
+++ b/actions/locomotion_primitives/P06/session_009/meta.json
@@ -335,8 +335,8 @@
   "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": {
@@ -516,10 +516,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+     -0.2222,
+     -0.03
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+     "p90": 18.16
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+    "accepted": 3329,
+    "wrist_pos_err_mm_median": 58.7,
+    "per_camera": {
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+      "accepted": 3329,
+      "gate_deg": 30.0,
+      "offset_deg": 14.11,
+      "tier": "primary",
+      "dev_deg_median": 7.7,
+      "wrist_pos_err_mm_median": 58.7
+     }
+    },
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+     "interpolated": 1980,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.14
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+    "accepted": 3024,
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+     "registered": {
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+      "p90": 8.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:53:49.029327+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": "P06",
   "source_session": "20260831/P06/20260831_092056_session66"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1578d1edbb166e68916e9f57a28c9b96d60134fa
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06329aa3bb6e70090f072441e24cedb9050dd1ffafb082d488c078c0c87c45f5
+size 4601907
diff --git a/actions/locomotion_primitives/P06/session_009/motions/smplx.npz b/actions/locomotion_primitives/P06/session_009/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P06/session_010/annotations.json b/actions/locomotion_primitives/P06/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b783fcb924ca6bb195ecf6859e97f1de991b01f
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_010/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d14688d6afce4d590389795a163942ac4e6f062
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+  },
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+   "sha256": "f4fe4f84db2e02d10e7d54e0dc3c3eb62b3eddda20acf65ae0d48e1bf90783c7",
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diff --git a/actions/locomotion_primitives/P06/session_010/cameras/slam.npz b/actions/locomotion_primitives/P06/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6190f51fcc89642262b859dbcce53cd511a759a
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_010/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/P06/session_010/meta.json b/actions/locomotion_primitives/P06/session_010/meta.json
index 7ad1b39f2a8f520adca929c665fec19b0bfeb538..2ac3ac4e9cdfdc21907938f401ab01a8cfd3bd75 100644
--- a/actions/locomotion_primitives/P06/session_010/meta.json
+++ b/actions/locomotion_primitives/P06/session_010/meta.json
@@ -349,8 +349,8 @@
   "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": {
@@ -530,10 +530,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "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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  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260831/P06/20260831_092317_session67"
+ },
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+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5d35c9460e1127321754776cf5ad2baea7329b78
--- /dev/null
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--- a/actions/locomotion_primitives/P06/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_010/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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+}
diff --git a/actions/locomotion_primitives/P06/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eda85f1defedb1609cebfba3877135a5950ad5d
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
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diff --git a/actions/locomotion_primitives/P06/session_011/cameras/slam.npz b/actions/locomotion_primitives/P06/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9babdc709794634d4ae53d7c9486b0ef69c9f455
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b1c5890d36d07c8af0a2bef57e2939dfc924f9d1d7106a68b100c4f97d8384
+size 793751
diff --git a/actions/locomotion_primitives/P06/session_011/meta.json b/actions/locomotion_primitives/P06/session_011/meta.json
index eed22dfae9b2a51437ceb1a2c005d70211997f63..ade4af32559db74b9c19a3a9f32e62dcd4b1d71c 100644
--- a/actions/locomotion_primitives/P06/session_011/meta.json
+++ b/actions/locomotion_primitives/P06/session_011/meta.json
@@ -336,8 +336,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     -0.2503,
+     -0.0253
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+    "accepted": 3606,
+    "wrist_pos_err_mm_median": 49.2,
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+      "accepted": 3606,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 49.2
+     }
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+     "interpolated": 2056,
+     "mean_hand": 9,
+     "no_body_fit": 3
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+    "palm_axis_vs_markers_deg": {
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+     },
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+      "p90": 6.7
+     }
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+   }
+  },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:53:53.733006+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/P06/session_011",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260831/P06/20260831_092543_session68"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2db3845976fa2c2e54acdcd3b961518df194a773
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5063424
diff --git a/actions/locomotion_primitives/P06/session_011/motions/smplx.npz b/actions/locomotion_primitives/P06/session_011/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P06/session_012/annotations.json b/actions/locomotion_primitives/P06/session_012/annotations.json
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_012/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
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+}
diff --git a/actions/locomotion_primitives/P06/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..50cc06f927f49dfa8582c51e4a461e6df347a583
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
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diff --git a/actions/locomotion_primitives/P06/session_012/cameras/slam.npz b/actions/locomotion_primitives/P06/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0c54c6ff8cbf8a00c7a42e3bdb66e42573398a4
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 794652
diff --git a/actions/locomotion_primitives/P06/session_012/meta.json b/actions/locomotion_primitives/P06/session_012/meta.json
index 51f6e0962effa4d0c2a8770b2f179d9c2346baff..6a49711b2fb7d31adc1cf105c3e3f27b7cc58d99 100644
--- a/actions/locomotion_primitives/P06/session_012/meta.json
+++ b/actions/locomotion_primitives/P06/session_012/meta.json
@@ -336,8 +336,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
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+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260831/P06/20260831_092817_session69"
+ },
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+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3c65401262a30a21e7be751777b410ccd0c8a87d
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 5061210
diff --git a/actions/locomotion_primitives/P06/session_012/motions/smplx.npz b/actions/locomotion_primitives/P06/session_012/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
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--- /dev/null
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+}
diff --git a/actions/locomotion_primitives/P06/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..38095a045d0d52a3591d98e0ee4eca889e02c3fc
--- /dev/null
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index e101af14805e1f515e90d2c62b96dd8e2d3677e0..257be0e158675c5c51e06377f8f32762cc8c27c7 100644
--- a/actions/locomotion_primitives/P06/session_013/meta.json
+++ b/actions/locomotion_primitives/P06/session_013/meta.json
@@ -346,8 +346,8 @@
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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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@@ -518,10 +518,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260904/P06/20260904_034817_session41"
+ },
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+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_013/motions/hands_mano.npz
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diff --git a/actions/locomotion_primitives/P06/session_014/cameras/slam.npz b/actions/locomotion_primitives/P06/session_014/cameras/slam.npz
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--- /dev/null
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index 7982c23783c305aa13c2e6f5ce4e5ba1e74bda0b..9ef79866e375451627a04c836c795af2878f9514 100644
--- a/actions/locomotion_primitives/P06/session_014/meta.json
+++ b/actions/locomotion_primitives/P06/session_014/meta.json
@@ -327,8 +327,8 @@
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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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@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.12354326817355
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  }
 }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebb597cd0ed31d9ba95e2ccc091fddd80f9a9d2b
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.326
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8681,
+   "gate_fail": [],
+   "held_out_px_after": 0.456,
+   "held_out_px_before": 3.531,
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+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.3525,
+    -0.564
+   ],
+   "split_deg": 0.0758,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8132,
+   "gate_fail": [],
+   "held_out_px_after": 0.335,
+   "held_out_px_before": 6.599,
+   "inliers": 3661,
+   "position_fitted": true,
+   "position_mm": [
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+    -12.47,
+    1.58
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+   "position_split_mm": 2.695,
+   "rotvec_deg": [
+    0.4123,
+    0.7067,
+    -1.6181
+   ],
+   "split_deg": 0.0354,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1381,
+    -0.3055,
+    0.7262
+   ],
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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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+    2.22
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+    -0.4478,
+    -0.193
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 5.242,
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+   "rotvec_deg": [
+    -0.2786,
+    -0.0372,
+    -0.9877
+   ],
+   "split_deg": 0.0353,
+   "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": "2f38b27b5fca27482ed631e9e77a2073c0973079a3be88a937d4beb6e80f95c3",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a1805e0a307511ddd77cf5419d1c10831e5fb92d5c5b9b4f118fddbee5fce1ce",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0230cc5ea4164a9c10df0236db47f2a84f3932402363549c4eb574418fc99b13",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6d137faad051f7231c1612489d0a3aba07f965b6680214e85b8386b0cabdab6d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "5be1c5dea9987229",
+ "kind": "online_calibration",
+ "output_sha256": "8a34331fd381b554bca24c19ec5f52dbe7339882f1ce0ccfe40636bc187970c0",
+ "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": 36.69,
+  "left_eye": 27.311,
+  "left_front": 36.341,
+  "right": 39.629,
+  "right_eye": 26.343,
+  "right_front": 32.915
+ },
+ "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/P06/session_015/cameras/slam.npz b/actions/locomotion_primitives/P06/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b061156b9aa0ed37e6d53ad258dcb845bbf5f04a
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278f4dbd1b158a4a8b7d6dd3511a65b2bda5f3d4f83b45c79131eff097c6db09
+size 568138
diff --git a/actions/locomotion_primitives/P06/session_015/meta.json b/actions/locomotion_primitives/P06/session_015/meta.json
index 45fe43ac6bb5408f1b9d65c71e2d56365736fe1b..75f769aa3f63077538b65047c27ac3d0ff3781ae 100644
--- a/actions/locomotion_primitives/P06/session_015/meta.json
+++ b/actions/locomotion_primitives/P06/session_015/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": 1.0868298700961074
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.2069,
+     -0.1858,
+     -0.0912
+    ],
+    "dev_deg": {
+     "median": 12.18,
+     "p90": 24.18
+    },
+    "samples": 2389,
+    "accepted": 2320,
+    "wrist_pos_err_mm_median": 58.3,
+    "per_camera": {
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+      "samples": 2389,
+      "accepted": 2320,
+      "gate_deg": 30.0,
+      "offset_deg": 16.77,
+      "tier": "primary",
+      "dev_deg_median": 12.18,
+      "wrist_pos_err_mm_median": 58.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9407,
+     "interpolated": 2328,
+     "mean_hand": 141,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9875,
+    "observed_fraction_of_valid": 0.9881,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.64,
+     "smplx": 0.4
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+     }
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+     "p90": 31.25
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+    "accepted": 2213,
+    "wrist_pos_err_mm_median": 59.7,
+    "per_camera": {
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+      "accepted": 2213,
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+      "offset_deg": 12.74,
+      "tier": "primary",
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+     }
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+    },
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+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.8,
+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 10.3
+     },
+     "registered": {
+      "median": 9.0,
+      "p90": 9.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:39:28.445331+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/P06/session_015",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260909/P06/20260909_063004_session102"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8d016a0486de34e39dea73d459caa636c0f6475
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a11b022b1666c82b9f91697d81eabbda434e0822b91cab03d009fc82dc86484
+size 3332678
diff --git a/actions/locomotion_primitives/P06/session_015/motions/smplx.npz b/actions/locomotion_primitives/P06/session_015/motions/smplx.npz
index 60cde281edd0d9265c95de28f1965c72405cbe2f..89f0e01ed624037ee5a0dee211ba1bfab7c961b5 100644
--- a/actions/locomotion_primitives/P06/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4524834
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diff --git a/actions/locomotion_primitives/P06/session_016/annotations.json b/actions/locomotion_primitives/P06/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..32360408b3b802aeac99769422f3036ecbc133d9
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_016/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
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+   "video": "left_eye",
+   "video_t_start": 0.03887110128175575
+  }
+ ],
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@@ -510,10 +510,124 @@
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 }
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diff --git a/actions/locomotion_primitives/P06/session_017/cameras/slam.npz b/actions/locomotion_primitives/P06/session_017/cameras/slam.npz
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--- /dev/null
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  }
 }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_018/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3344e70dcdcec703e30ca922ec8f40539129a16a
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_018/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.349
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
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+   "held_out_px_before": 4.149,
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+    -0.3434,
+    -0.8651
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 6.209,
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+    3.06
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+   "position_split_mm": 2.783,
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+    0.6589,
+    -1.8522
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+    -0.2756,
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+    "left_front",
+    "right_front",
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+    "left",
+    "right"
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+   "usable": true
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+    "left",
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+    0.0008,
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+   ],
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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": "9ede20500d088ac325c1649567d1274a50f9c2103b84a193b0c0283abecf2b2c",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f8a6faf99bf53fc9f964485984696472eb6de85e5d745a85f792832f28d27232",
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+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "f218773d570c22029c69b22c16cacd7edc0df9994cb8c237e995ab359ebc7dbf",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "be30dd16a4b7a245",
+ "kind": "online_calibration",
+ "output_sha256": "c9f53d030acb6b67e49d3ca1b9b9eb109cdb39c5da561e5b111eeb9fb8b72465",
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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": {
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+  "left_eye": 28.174,
+  "left_front": 35.385,
+  "right": 33.052,
+  "right_eye": 26.325,
+  "right_front": 33.331
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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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/P06/session_018/cameras/slam.npz b/actions/locomotion_primitives/P06/session_018/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eb48088078c2f6475fc7d576cdb3fcddf4e45176
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_018/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:358c6cd2544845c42cc971723e1a3fc520fddc6bd9f67b206a8e472e7ef43e84
+size 626970
diff --git a/actions/locomotion_primitives/P06/session_018/meta.json b/actions/locomotion_primitives/P06/session_018/meta.json
index c2362cb3d6012854b5e2f22148dfb4ad15bdffbe..9100c10298c47b635c92999df028e51ae89058c4 100644
--- a/actions/locomotion_primitives/P06/session_018/meta.json
+++ b/actions/locomotion_primitives/P06/session_018/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": 0.6788142196107034
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.1878,
+     0.0527,
+     -0.0077
+    ],
+    "dev_deg": {
+     "median": 13.4,
+     "p90": 31.87
+    },
+    "samples": 2400,
+    "accepted": 2133,
+    "wrist_pos_err_mm_median": 74.6,
+    "per_camera": {
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+      "accepted": 2133,
+      "gate_deg": 30.0,
+      "offset_deg": 11.18,
+      "tier": "primary",
+      "dev_deg_median": 13.4,
+      "wrist_pos_err_mm_median": 74.6
+     }
+    },
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+     "interpolated": 4168,
+     "mean_hand": 148,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9887,
+    "observed_fraction_of_valid": 0.9887,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.39,
+     "smplx": 0.67
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 23.9
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+     }
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+    "offset_rotvec": [
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+     "p90": 21.63
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+    "accepted": 2641,
+    "wrist_pos_err_mm_median": 46.4,
+    "per_camera": {
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+      "accepted": 2641,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+     }
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 24.9
+     },
+     "registered": {
+      "median": 16.0,
+      "p90": 23.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:56:05.679727+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/P06/session_018",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260919/P06/20260919_012025_session7"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_018/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ccc6e5cffe4276da7e9a7471f56c152160de617a
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_018/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e9bffd115713f5aa3e2e524a2dc1b656dc2ecf69deb8dded0a9da1fd4d923b
+size 3556385
diff --git a/actions/locomotion_primitives/P06/session_018/motions/smplx.npz b/actions/locomotion_primitives/P06/session_018/motions/smplx.npz
index d460dc7950701ba9e0ccad109ea311e2f5209d3a..e5d38887776cc0466ae0c7f0867d02ae6370dc98 100644
--- a/actions/locomotion_primitives/P06/session_018/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_018/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5012299
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diff --git a/actions/locomotion_primitives/P06/session_019/annotations.json b/actions/locomotion_primitives/P06/session_019/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ce970854ad3b182e0291a5c2c134293d111b36
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_019/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
+ "segments": [
+  {
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+   "duration_s": 78.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03924966334774216
+  }
+ ],
+ "episodes": [
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+  },
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@@ -505,10 +505,124 @@
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 }
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 }
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+}
diff --git a/actions/locomotion_primitives/P06/session_021/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_021/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7cb2d9cda5993b85645c15fc5a23fc4a7053844
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_021/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.345
+ },
+ "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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+    -0.4763,
+    -1.1295
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.52,
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+   "held_out_px_before": 6.554,
+   "inliers": 2967,
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+    2.79,
+    -13.0,
+    4.22
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+   "position_split_mm": 2.76,
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+    0.853,
+    -2.3707
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+    -0.4081,
+    -0.4639
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+  },
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+  },
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+    -1.9778
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "196e9497ed6ea5c0",
+ "kind": "online_calibration",
+ "output_sha256": "b108d480b3d441b6f62b8f7e39ae0f1ed2783f0d0c922db1a318bde7f1412b4a",
+ "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": {
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+  "left_eye": 26.279,
+  "left_front": 32.557,
+  "right": 33.831,
+  "right_eye": 24.607,
+  "right_front": 32.841
+ },
+ "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/P06/session_021/cameras/slam.npz b/actions/locomotion_primitives/P06/session_021/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fccf42eaf07d36b0694b04d10c6eb010590b8e46
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_021/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 767016
diff --git a/actions/locomotion_primitives/P06/session_021/meta.json b/actions/locomotion_primitives/P06/session_021/meta.json
index 38c6d56371db0abafcc024f54abcffe9d6f2b5f3..7fe1caa001c9fbc92baa34d2b9626fdfaa98d7cb 100644
--- a/actions/locomotion_primitives/P06/session_021/meta.json
+++ b/actions/locomotion_primitives/P06/session_021/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": {
@@ -530,10 +530,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.312479035575346
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.3791,
+     -0.4303,
+     0.0659
+    ],
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+     "p90": 35.66
+    },
+    "samples": 3931,
+    "accepted": 3189,
+    "wrist_pos_err_mm_median": 32.0,
+    "per_camera": {
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+      "accepted": 3189,
+      "gate_deg": 30.0,
+      "offset_deg": 33.07,
+      "tier": "primary",
+      "dev_deg_median": 18.92,
+      "wrist_pos_err_mm_median": 32.0
+     }
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+     "interpolated": 2500,
+     "mean_hand": 657,
+     "no_body_fit": 7
+    },
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+    "observed_fraction_of_valid": 0.9591,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 29.59,
+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+     }
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+    "per_camera": {
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+      "accepted": 2951,
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+      "tier": "primary",
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.8
+     },
+     "registered": {
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+      "p90": 10.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:26:15.324837+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/P06/session_021",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260929/P06/20260929_114100_session217"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_021/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ce07d1159b6a6f72168979efa08724b1c82dd983
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_021/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee9e8335051fce51f8ab045209ce548792a83846ab069ddb8de381e9930c8ac7
+size 4895865
diff --git a/actions/locomotion_primitives/P06/session_021/motions/smplx.npz b/actions/locomotion_primitives/P06/session_021/motions/smplx.npz
index da500f3f94ac3da65d78255003be9c67c6802c16..16b490d9d70e40f59aacbbadd99ac5f9ac334873 100644
--- a/actions/locomotion_primitives/P06/session_021/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_021/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6123651
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diff --git a/actions/locomotion_primitives/P06/session_022/annotations.json b/actions/locomotion_primitives/P06/session_022/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f89074f928ee0d0d798f05f869b30e6f2cf5c6d
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_022/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
+ "segments": [
+  {
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+   "duration_s": 103.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03920625870708783
+  }
+ ],
+ "episodes": [
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+  },
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+}
diff --git a/actions/locomotion_primitives/P06/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_022/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca8c88c936f43b1b5fdb8a3c55a680a89b9d85a
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_022/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.346
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.5001,
+    -1.1842
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
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+    0.8459,
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+  },
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+    "left_eye",
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+    "right"
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+    -0.2837,
+    -0.9878
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+    "left_front",
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+    "right_eye",
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+   ],
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "a75d04157394727a",
+ "kind": "online_calibration",
+ "output_sha256": "22d7398ce50eee18f2da2e230643bcf417a9daec43f49205ea3b08da4faea029",
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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
+ },
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+  "left_eye": 26.249,
+  "left_front": 36.083,
+  "right": 33.826,
+  "right_eye": 24.527,
+  "right_front": 35.718
+ },
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+  "opencv": "5.0.0",
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+ },
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P06/session_022/cameras/slam.npz b/actions/locomotion_primitives/P06/session_022/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b8f8e5c413a67e79836966a6510e6685fef10fcb
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_022/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e72d876d0efa8be53cec1da17c60834081177d7367179670d146a6fe1433a9f2
+size 599689
diff --git a/actions/locomotion_primitives/P06/session_022/meta.json b/actions/locomotion_primitives/P06/session_022/meta.json
index d90d631526b74cb2a42d3bcb0f333656a412a3b0..843a4e529f239c285fe78c1e8c94f3100ebbe14b 100644
--- a/actions/locomotion_primitives/P06/session_022/meta.json
+++ b/actions/locomotion_primitives/P06/session_022/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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4108893787120755
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     "p90": 32.02
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+    "samples": 2070,
+    "accepted": 1797,
+    "wrist_pos_err_mm_median": 70.6,
+    "per_camera": {
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+      "accepted": 1797,
+      "gate_deg": 30.0,
+      "offset_deg": 47.76,
+      "tier": "primary",
+      "dev_deg_median": 16.2,
+      "wrist_pos_err_mm_median": 70.6
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+     "interpolated": 4508,
+     "mean_hand": 484,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9612,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.77
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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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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:22:27.854614+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": "P06",
   "source_session": "20260930/P06/20260930_023441_session42"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_022/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ea0528cb4622a4721cfee2f9f0704f1fb015939
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_022/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad5c9da5006c263cdf8bb3ff9294b54fb995f2bb82db652d690789dc5769015c
+size 2863673
diff --git a/actions/locomotion_primitives/P06/session_022/motions/smplx.npz b/actions/locomotion_primitives/P06/session_022/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_022/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_022/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4803070
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diff --git a/actions/locomotion_primitives/P06/session_023/annotations.json b/actions/locomotion_primitives/P06/session_023/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6fdf5c30b20ac0de59c11c1f347c8205217fff1
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_023/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_023/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6e751829fb3cda2131c30044b33e6eeaf77c0c
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_023/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.377
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
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+    -1.0662
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+   "usable": true
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+    "right_front",
+    "right_eye",
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+    0.842,
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+    "left_front",
+    "right_front",
+    "left_eye",
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+    "right"
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+    "right_eye",
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+    0.0227,
+    -2.0448
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d0497055c357c253",
+ "kind": "online_calibration",
+ "output_sha256": "dd185e1f314e266ccdde4a2d8e10eda394dfc1a269558e33f52606a79cacaae6",
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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": 31.13,
+  "left_front": 38.969,
+  "right": 34.293,
+  "right_eye": 30.229,
+  "right_front": 36.364
+ },
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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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/P06/session_023/cameras/slam.npz b/actions/locomotion_primitives/P06/session_023/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e189636400e51f789cb4d82990bf54bfdfdf06ab
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_023/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c140d34f4fe6bf0a94aaecea41d55a12be3de1e720f953858418c64e92ca50b
+size 682970
diff --git a/actions/locomotion_primitives/P06/session_023/meta.json b/actions/locomotion_primitives/P06/session_023/meta.json
index b24a9f469be754404bec1003fb90d6687cb12e42..9eac07f2a786899553e3550caf6dc2ef738fd1f6 100644
--- a/actions/locomotion_primitives/P06/session_023/meta.json
+++ b/actions/locomotion_primitives/P06/session_023/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": {
@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5286635117612717
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.298,
+     0.0898
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+     "median": 6.94,
+     "p90": 21.92
+    },
+    "samples": 2851,
+    "accepted": 2704,
+    "wrist_pos_err_mm_median": 62.9,
+    "per_camera": {
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+      "accepted": 2704,
+      "gate_deg": 30.0,
+      "offset_deg": 32.78,
+      "tier": "primary",
+      "dev_deg_median": 6.94,
+      "wrist_pos_err_mm_median": 62.9
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+     "interpolated": 3238,
+     "mean_hand": 5,
+     "no_body_fit": 7
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+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.5
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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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+     },
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+      "p90": 9.6
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:22:29.434217+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/P06/session_023",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20260930/P06/20260930_071952_session72"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_023/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c6be1a24cae335d42791a9fc6e527d08c28542d
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_023/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ee854d9ba67d66c0f3459d183ba7d2dfce59fd38eaf38cafe16f96aabaf914
+size 3650885
diff --git a/actions/locomotion_primitives/P06/session_023/motions/smplx.npz b/actions/locomotion_primitives/P06/session_023/motions/smplx.npz
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--- a/actions/locomotion_primitives/P06/session_023/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_023/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P06/session_024/annotations.json b/actions/locomotion_primitives/P06/session_024/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dddf1f258533f769c008aa1f7f1c3d9c86bce63
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_024/annotations.json
@@ -0,0 +1,149 @@
+{
+ "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": "P06",
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+   "video": "left_eye",
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+  },
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+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_024/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7db0fd315e7929cfaf9ab0f57ff6168ed97fba
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_024/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.396
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 5.918,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.281,
+    -0.4861,
+    -1.132
+   ],
+   "split_deg": 0.1031,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5291,
+   "gate_fail": [],
+   "held_out_px_after": 0.448,
+   "held_out_px_before": 6.445,
+   "inliers": 2616,
+   "position_fitted": true,
+   "position_mm": [
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+    -11.36,
+    7.45
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+   "position_split_mm": 4.181,
+   "rotvec_deg": [
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+    0.8767,
+    -2.3611
+   ],
+   "split_deg": 0.0462,
+   "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": 5.59,
+   "inliers": 1196,
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+   "rotvec_deg": [
+    1.4125,
+    -0.3227,
+    -0.4056
+   ],
+   "split_deg": 0.1413,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -10.6,
+    8.04
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+    -0.2983,
+    -0.9894
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
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+   "held_out_px_before": 6.896,
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+    -0.1851,
+    0.0753,
+    -2.0245
+   ],
+   "split_deg": 0.0163,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "sha256": "335d677f9e1ffbcd57e85b5230033843e1174bbb1122bf47104c0eddb21f4c0c",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "sha256": "39e63da828adcc3f63dd3151ddc07636fbd072d018c9e7b407a7630b2bd16b0d",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "df9a14d7e7d2193e2f74267eb000509110e9cd71f985c06671687efcbbbb526d",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "5f31788abba43890",
+ "kind": "online_calibration",
+ "output_sha256": "bb5f7f897d71070005a9d1e6280eeb92917d4112fd5421ab52fea0ed6b1c72f2",
+ "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,
+  "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": 31.737,
+  "left_eye": 26.82,
+  "left_front": 35.25,
+  "right": 32.648,
+  "right_eye": 22.755,
+  "right_front": 34.569
+ },
+ "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/P06/session_024/cameras/slam.npz b/actions/locomotion_primitives/P06/session_024/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d5d38200c3276307d88bc73d8aa9884f15980941
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_024/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef36bab33e3181c71a177cd18c9174933126f628c22fa9ec0d0e616f84d58b89
+size 512783
diff --git a/actions/locomotion_primitives/P06/session_024/meta.json b/actions/locomotion_primitives/P06/session_024/meta.json
index 912ba64bc9700863858dbb8570f78c4b4b06574b..9763f6a0452a824dfa634f75305df31edcdb355d 100644
--- a/actions/locomotion_primitives/P06/session_024/meta.json
+++ b/actions/locomotion_primitives/P06/session_024/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": {
@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0057575437213935
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.4651,
+     -0.3028,
+     -0.0637
+    ],
+    "dev_deg": {
+     "median": 8.07,
+     "p90": 20.22
+    },
+    "samples": 2005,
+    "accepted": 1940,
+    "wrist_pos_err_mm_median": 82.1,
+    "per_camera": {
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+      "accepted": 1940,
+      "gate_deg": 30.0,
+      "offset_deg": 32.01,
+      "tier": "primary",
+      "dev_deg_median": 8.07,
+      "wrist_pos_err_mm_median": 82.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7951,
+     "interpolated": 2716,
+     "mean_hand": 9,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9984,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 32.81,
+     "smplx": 0.39
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 6.0,
+      "p90": 9.0
+     },
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+      "p90": 6.5
+     }
+    }
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+    "offset_rotvec": [
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+     -0.012,
+     0.1182
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+    "dev_deg": {
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+     "p90": 23.81
+    },
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+    "accepted": 1927,
+    "wrist_pos_err_mm_median": 65.2,
+    "per_camera": {
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+      "accepted": 1927,
+      "gate_deg": 30.0,
+      "offset_deg": 15.74,
+      "tier": "primary",
+      "dev_deg_median": 9.47,
+      "wrist_pos_err_mm_median": 65.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 2550,
+     "mean_hand": 249,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9759,
+    "observed_fraction_of_valid": 0.9767,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.17,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.7,
+      "p90": 10.8
+     },
+     "registered": {
+      "median": 7.5,
+      "p90": 8.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:11:08.816999+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/P06/session_024",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20261012/P06/20261012_010153_session5"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_024/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..25af82a6a025935324f954b4f01cde08a9d1a974
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_024/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60c51eee18eae761740d01955c0f9653cb753beb01d402473986e5c4ec8fa43
+size 2803228
diff --git a/actions/locomotion_primitives/P06/session_024/motions/smplx.npz b/actions/locomotion_primitives/P06/session_024/motions/smplx.npz
index 71bb3fcf60a26952aff358916e21ee5c51055e89..1e7efe2b40c4cef7adba3bad027269e4589b2472 100644
--- a/actions/locomotion_primitives/P06/session_024/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_024/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f1f4c82ac6f57268b4c79514231c948d4ac813a598c8b7fc2451bb5b7b636539
-size 4110319
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diff --git a/actions/locomotion_primitives/P06/session_025/annotations.json b/actions/locomotion_primitives/P06/session_025/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2fc57bcd8643339b4a9422bc05691777e198de
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_025/annotations.json
@@ -0,0 +1,105 @@
+{
+ "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": "P06",
+ "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 58.966522,
+   "video": "left_eye",
+   "video_t_start": 0.039223173877045436
+  }
+ ],
+ "episodes": [
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+   "t_end": 6.0932,
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+  },
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+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
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+   "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_025/cameras/slam.npz b/actions/locomotion_primitives/P06/session_025/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b562647e34198a0e0d71ec11db919eda6e9c5ca8
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_025/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 341752
diff --git a/actions/locomotion_primitives/P06/session_025/meta.json b/actions/locomotion_primitives/P06/session_025/meta.json
index 99817236df933a9709524cc1e1322ae7b96c7b06..21d3b583c89ed8342b83914b896ac2990525ffef 100644
--- a/actions/locomotion_primitives/P06/session_025/meta.json
+++ b/actions/locomotion_primitives/P06/session_025/meta.json
@@ -362,8 +362,8 @@
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   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
+     -0.1123,
+     0.0648,
+     0.4056
+    ],
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+     "p90": 17.33
+    },
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+    "accepted": 1406,
+    "wrist_pos_err_mm_median": 159.9,
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+      "accepted": 1406,
+      "gate_deg": 30.0,
+      "offset_deg": 24.4,
+      "tier": "primary",
+      "dev_deg_median": 10.93,
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+     }
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+     "interpolated": 1340,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.12,
+     "smplx": 0.38
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 17.7,
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+     },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:07:44.182412+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/P06/session_025",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20261013/P06/20261013_074321_session123"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_025/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_025/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df01d5300d851dcfd44ee31e3a5cab3e60425c7b
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_025/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1825827
diff --git a/actions/locomotion_primitives/P06/session_025/motions/smplx.npz b/actions/locomotion_primitives/P06/session_025/motions/smplx.npz
index 20e0ec62b9fe03bd7e823a12b47efe46a9b1d737..52cad4664a64bf7b8f2ee01af205b4499fd5118f 100644
--- a/actions/locomotion_primitives/P06/session_025/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_025/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:92d498837f81d6a36943bb241ae7c80ff6133ad3cf93b30201253e66f3cc8f02
-size 2721903
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diff --git a/actions/locomotion_primitives/P06/session_026/annotations.json b/actions/locomotion_primitives/P06/session_026/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ab3601384ab7d0f6f62710ed27a98377f695a28
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_026/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P06",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P06/session_026/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P06/session_026/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..089ca0c3c10c697e7164cdbc7826db6f73f502d4
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_026/cameras/gsi_online_calibration.json
@@ -0,0 +1,251 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.37
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.548,
+   "held_out_px_before": 23.329,
+   "inliers": 2070,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.146,
+    -0.8302
+   ],
+   "split_deg": 0.1386,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 9.674,
+   "inliers": 2562,
+   "position_fitted": true,
+   "position_mm": [
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+    -27.52,
+    -5.96
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+    -0.8598,
+    1.7808
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+   "usable": true
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+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
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+  },
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+   "against": [
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+    "left_eye",
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+   "position_fitted": true,
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+    -17.78,
+    -1.95
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+    2.3178
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+  }
+ },
+ "input_fingerprint": "813b857be950ed8b",
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+ "selection": {
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P06/session_026/cameras/slam.npz b/actions/locomotion_primitives/P06/session_026/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..48627ccf1323990b9ba33b90483600258e6d39a2
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_026/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c461d77b0188f22cb49efd5d6f5e18f92405543b69fa2ab4273cc87d30f694a
+size 597752
diff --git a/actions/locomotion_primitives/P06/session_026/meta.json b/actions/locomotion_primitives/P06/session_026/meta.json
index 1f5ec2c65095f01e4fbcbb38000fd04891ccb3a0..d593b07d177fedf6ffae89bce472072399fdcddf 100644
--- a/actions/locomotion_primitives/P06/session_026/meta.json
+++ b/actions/locomotion_primitives/P06/session_026/meta.json
@@ -380,8 +380,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 32.06,
+    "offset_rotvec": [
+     0.2408,
+     -0.4531,
+     0.2231
+    ],
+    "dev_deg": {
+     "median": 14.46,
+     "p90": 29.85
+    },
+    "samples": 2235,
+    "accepted": 2013,
+    "wrist_pos_err_mm_median": 51.0,
+    "per_camera": {
+     "head": {
+      "samples": 2235,
+      "accepted": 2013,
+      "gate_deg": 30.0,
+      "offset_deg": 32.06,
+      "tier": "primary",
+      "dev_deg_median": 14.46,
+      "wrist_pos_err_mm_median": 51.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8356,
+     "interpolated": 3824,
+     "mean_hand": 280,
+     "no_body_fit": 0
+    },
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+    "palm_axis_vs_markers_deg": {
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+    },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:24:06.840992+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/P06/session_026",
   "family": "locomotion_primitives",
   "primitive": "P06",
   "source_session": "20261019/P06/20261019_021125_session22"
+ },
+ "task": {
+  "primitive": "P06",
+  "instruction": "Walk normally; at marked point stop as quickly as comfortably possible; remain still."
  }
 }
diff --git a/actions/locomotion_primitives/P06/session_026/motions/hands_mano.npz b/actions/locomotion_primitives/P06/session_026/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..40e6d4868206c8771439b459be4bd9345167ad11
--- /dev/null
+++ b/actions/locomotion_primitives/P06/session_026/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cadd07afa4eda8a067b5a765bbe27d4802fe3acbd7d337eb844a4ff2204079b
+size 3370379
diff --git a/actions/locomotion_primitives/P06/session_026/motions/smplx.npz b/actions/locomotion_primitives/P06/session_026/motions/smplx.npz
index 35535b1f8c2b78d57a8c9e09478e9cd25b7c0226..5e43298cdc16b6d11d6cb9d492e308b2b4798818 100644
--- a/actions/locomotion_primitives/P06/session_026/motions/smplx.npz
+++ b/actions/locomotion_primitives/P06/session_026/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8febd1f7fede7467bbf2fee3f699c1460308179ef6d54ba4226a1bc2b28efb6f
-size 4780673
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+size 8890504
diff --git a/actions/locomotion_primitives/P07/session_001/annotations.json b/actions/locomotion_primitives/P07/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..aab302ae5501a0733c65b3eeb364897d947b6b89
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, 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": "P07",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a9e2457c02197c76a8f561e6059bfc155d53597
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 241.4,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.335
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0073,
+   "gate_fail": [],
+   "held_out_px_after": 0.786,
+   "held_out_px_before": 6.678,
+   "inliers": 1466,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0357,
+    0.8833,
+    0.4828
+   ],
+   "split_deg": 0.1744,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 2.156,
+   "inliers": 2753,
+   "position_fitted": true,
+   "position_mm": [
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+    7.91,
+    11.03
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+   "position_split_mm": 4.66,
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+    0.6559,
+    -0.7537
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+   "split_deg": 0.1929,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "left",
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+    7.26,
+    9.1
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+    0.3534,
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+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 4751,
+   "position_fitted": false,
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+    0.4078,
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+   "split_deg": 0.0488,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "00b18af53ad9338af6a92bf4c67ead7ea474406eabf21b1c3897d92cb1ffa364",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e3923cb5602d6c26d4dc224ec1235c17c61562b8aec7656fddd4fa87d235376d",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "48b2b6257667edf27db00cda4165b1207171721c0a383d470c83a5e4e3d0c727",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "e248c0be8c8fe73c",
+ "kind": "online_calibration",
+ "output_sha256": "2d9b93d3cbca2ca636d92975150c2037863000a5c4ce2815748a625725357d75",
+ "overlap": {
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_front": 44.565,
+  "right": 36.078,
+  "right_eye": 38.072,
+  "right_front": 45.046
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P07/session_001/cameras/slam.npz b/actions/locomotion_primitives/P07/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a14ffa20236c1c9cb33581915daf263d0ba23e6b
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6954edd1597c51296b9435ebc6a0dddbf901b5507d6364e597ce662990100c10
+size 568034
diff --git a/actions/locomotion_primitives/P07/session_001/meta.json b/actions/locomotion_primitives/P07/session_001/meta.json
index 6b138991c365ba91c31978762816172f923764e3..efda7f673618fa667a6de84d3ad1b1e2b10020c0 100644
--- a/actions/locomotion_primitives/P07/session_001/meta.json
+++ b/actions/locomotion_primitives/P07/session_001/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.23,
+    "offset_rotvec": [
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+     -0.2609,
+     -0.0752
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+    "dev_deg": {
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+     "p90": 19.59
+    },
+    "samples": 2554,
+    "accepted": 2463,
+    "wrist_pos_err_mm_median": 47.0,
+    "per_camera": {
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+      "accepted": 2463,
+      "gate_deg": 30.0,
+      "offset_deg": 17.23,
+      "tier": "primary",
+      "dev_deg_median": 7.59,
+      "wrist_pos_err_mm_median": 47.0
+     }
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+     "interpolated": 1864,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.77,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "p90": 10.2
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+     "p90": 22.05
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+    "accepted": 2359,
+    "wrist_pos_err_mm_median": 56.3,
+    "per_camera": {
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+      "accepted": 2359,
+      "gate_deg": 30.0,
+      "offset_deg": 9.52,
+      "tier": "primary",
+      "dev_deg_median": 6.97,
+      "wrist_pos_err_mm_median": 56.3
+     }
+    },
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+     "interpolated": 2290,
+     "mean_hand": 12,
+     "no_body_fit": 0
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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/P07/session_001",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260828/P07/20260828_024213_session252"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d6b6cd50f9a2addefb39502734e23f82f3ff6979
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3440369
diff --git a/actions/locomotion_primitives/P07/session_001/motions/smplx.npz b/actions/locomotion_primitives/P07/session_001/motions/smplx.npz
index 4f417c110ff83d40cd9d3b5de46c28f86a373139..c70911c35c541b3e9d0f63336d79432dfce16c37 100644
--- a/actions/locomotion_primitives/P07/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4555865
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diff --git a/actions/locomotion_primitives/P07/session_002/annotations.json b/actions/locomotion_primitives/P07/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2b0e29240ba2c83f6d54e1d15857162cb7d58c7
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..47cb63f9383e559d5eb2ec3b3cfaf5e024a7339c
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
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+    "median_px": 20.67,
+    "pair": [
+     "left",
+     "right"
+    ]
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+  "median_px": 0.361
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9699,
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+   "held_out_px_before": 6.379,
+   "inliers": 1358,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1475,
+    0.9042,
+    0.3184
+   ],
+   "split_deg": 0.3582,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 2.675,
+   "inliers": 2127,
+   "position_fitted": true,
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+    12.21,
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.0011
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+   "usable": true
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+    "right"
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+    11.16,
+    11.94
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+  },
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "2c776bd265fde5e8",
+ "kind": "online_calibration",
+ "output_sha256": "75ad6b443039c00302fee231d1904b4fa22422dc95bf48785ef0820fe4e987bc",
+ "overlap": {
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
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+ "picture_change": {
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+  "right": 34.917,
+  "right_eye": 36.872,
+  "right_front": 44.795
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P07/session_002/cameras/slam.npz b/actions/locomotion_primitives/P07/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..db850163f8b3df6295aec5d746da0e51d3b3ec01
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76068876ba5b736b418d231ae6d11f5cbee3e9b60ee10b5822016f1f41359b03
+size 596603
diff --git a/actions/locomotion_primitives/P07/session_002/meta.json b/actions/locomotion_primitives/P07/session_002/meta.json
index 9f2e1f6a691a8c4d4b079b14b988029ae5446b74..01402093c9c5ab4be2295da912ccdbff4bb70fd1 100644
--- a/actions/locomotion_primitives/P07/session_002/meta.json
+++ b/actions/locomotion_primitives/P07/session_002/meta.json
@@ -334,8 +334,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.2534,
+     -0.0362
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+     "p90": 17.99
+    },
+    "samples": 2743,
+    "accepted": 2670,
+    "wrist_pos_err_mm_median": 49.0,
+    "per_camera": {
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+      "accepted": 2670,
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+      "offset_deg": 15.93,
+      "tier": "primary",
+      "dev_deg_median": 7.7,
+      "wrist_pos_err_mm_median": 49.0
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+     "interpolated": 1652,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.78,
+     "smplx": 0.95
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.7
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+    "accepted": 2490,
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+    "per_camera": {
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+      "accepted": 2490,
+      "gate_deg": 30.0,
+      "offset_deg": 9.56,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 73.6
+     }
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+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9718,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.98
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 7.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:56:27.026870+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/P07/session_002",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_065026_session20"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d960e838a616df4dba19650b60756810b279d9ba
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3710700
diff --git a/actions/locomotion_primitives/P07/session_002/motions/smplx.npz b/actions/locomotion_primitives/P07/session_002/motions/smplx.npz
index c6fb9140d0a9c29b70d94814011cd5f43310ebbd..e612453c8e13573bc0f384754d44c71be7fb483d 100644
--- a/actions/locomotion_primitives/P07/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4791599
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diff --git a/actions/locomotion_primitives/P07/session_003/annotations.json b/actions/locomotion_primitives/P07/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9cc79d98506b932e6501fc990d66477c5cd7f2
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_003/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
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+  }
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..240047a5b5fe76e645642bd998a60516dabd371c
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 627.29,
+    "pair": [
+     "left",
+     "right"
+    ]
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+  "median_px": 0.348
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   "held_out_px_before": 6.915,
+   "inliers": 1514,
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+    0.8774,
+    0.3366
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+   "split_deg": 0.2169,
+   "usable": true
+  },
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+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "inliers": 2402,
+   "position_fitted": true,
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+    10.1,
+    11.29
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+    0.7804,
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+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "inliers": 2703,
+   "position_fitted": true,
+   "position_mm": [
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+    7.87,
+    9.45
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+    0.3755,
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+   "split_deg": 0.1147,
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+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    0.4724,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ee21b46063baf44598186507e3768dbd52df837dbc14b9865099691706969742",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "19a4e4b2390a0db8de9ce928005360ba4761404c74147d539a410fe3fb38e7db",
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+  }
+ },
+ "input_fingerprint": "e2365b8f79b3983c",
+ "kind": "online_calibration",
+ "output_sha256": "6ac795e4a04babe8e9fe0760f6077d60dcde8ec8e363b30b754eba0cfbfce756",
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+  "right_eye-left_eye": 1.0,
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
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+ "picture_change": {
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+  "left_eye": 35.446,
+  "left_front": 44.673,
+  "right": 34.622,
+  "right_eye": 37.078,
+  "right_front": 45.848
+ },
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+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P07/session_003/cameras/slam.npz b/actions/locomotion_primitives/P07/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4efb4ff4de02dacc9d05ae29f99cc383458c10fd
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33eec006ffa7841d68e9677ea1844a7cbd4b784170137eaf580d675bcc356461
+size 596648
diff --git a/actions/locomotion_primitives/P07/session_003/meta.json b/actions/locomotion_primitives/P07/session_003/meta.json
index 676ea6902c96e7dc2c637f1d33936455c1ff5be1..2ded6165a17cd4964507d891db0045ee32f5935d 100644
--- a/actions/locomotion_primitives/P07/session_003/meta.json
+++ b/actions/locomotion_primitives/P07/session_003/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.43,
+    "offset_rotvec": [
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+     -0.2633,
+     -0.0312
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+    "dev_deg": {
+     "median": 8.39,
+     "p90": 20.21
+    },
+    "samples": 2678,
+    "accepted": 2583,
+    "wrist_pos_err_mm_median": 47.2,
+    "per_camera": {
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+      "accepted": 2583,
+      "gate_deg": 30.0,
+      "offset_deg": 16.43,
+      "tier": "primary",
+      "dev_deg_median": 8.39,
+      "wrist_pos_err_mm_median": 47.2
+     }
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+     "interpolated": 1970,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.75,
+     "smplx": 1.0
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 6.9,
+      "p90": 7.9
+     },
+     "registered": {
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+     }
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+     "median": 7.09,
+     "p90": 20.09
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+    "samples": 2611,
+    "accepted": 2505,
+    "wrist_pos_err_mm_median": 55.9,
+    "per_camera": {
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+      "accepted": 2505,
+      "gate_deg": 30.0,
+      "offset_deg": 8.63,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 55.9
+     }
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+     "interpolated": 2286,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 8.2
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 7.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:56:29.728230+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/P07/session_003",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_065219_session21"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ec3d14160e88a78aa7ec7d3ec4cc755c74dfed0
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf423441c7b079d8a7208ef387ae3b73ac87309041c36f177c1d02bfd661dea1
+size 3615881
diff --git a/actions/locomotion_primitives/P07/session_003/motions/smplx.npz b/actions/locomotion_primitives/P07/session_003/motions/smplx.npz
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--- a/actions/locomotion_primitives/P07/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..a641d20a43df0def37d8c0330eb3d81f0f6ae731
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_004/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..73a17cc84c107fc4f3b06872c5f8e674a7d134db
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
+{
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+     "right"
+    ]
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+  "median_px": 0.343
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+    0.0672,
+    0.7779,
+    0.2945
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+   "split_deg": 0.1336,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 2897,
+   "position_fitted": true,
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+    15.74,
+    11.45
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "usable": true
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+    14.2,
+    8.77
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+    "left_front",
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+    "left",
+    "right"
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+ "factory_root_name": "850a0e6aafa85fdf",
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+  }
+ },
+ "input_fingerprint": "a2064e8046da1910",
+ "kind": "online_calibration",
+ "output_sha256": "7ee6ab479849667917c676d41428b33578bd9342ab63fe144f253399f45b78c6",
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+  "right_front-right_eye": 0.724
+ },
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+  "right_front": 44.809
+ },
+ "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/P07/session_004/cameras/slam.npz b/actions/locomotion_primitives/P07/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc9ea0a9e4e95bd2e756dbe5bdf4cc98ce176e9a
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac9655e43fc785dad4ef8a840f48a4c7515020c1b3635533cf86e2f8c64beccf
+size 568641
diff --git a/actions/locomotion_primitives/P07/session_004/meta.json b/actions/locomotion_primitives/P07/session_004/meta.json
index 92f5a1207b63b9e275ad5cd3598c0c94c40d24c4..512ccbd9c66057d79cec1883916cb44fcc6080ed 100644
--- a/actions/locomotion_primitives/P07/session_004/meta.json
+++ b/actions/locomotion_primitives/P07/session_004/meta.json
@@ -333,8 +333,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.56,
+    "offset_rotvec": [
+     -0.1125,
+     -0.2662,
+     -0.003
+    ],
+    "dev_deg": {
+     "median": 8.62,
+     "p90": 20.33
+    },
+    "samples": 2352,
+    "accepted": 2281,
+    "wrist_pos_err_mm_median": 57.3,
+    "per_camera": {
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+      "samples": 2352,
+      "accepted": 2281,
+      "gate_deg": 30.0,
+      "offset_deg": 16.56,
+      "tier": "primary",
+      "dev_deg_median": 8.62,
+      "wrist_pos_err_mm_median": 57.3
+     }
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+    "frames_by_state": {
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+     "interpolated": 2556,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.64,
+     "smplx": 0.91
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 13.3
+     },
+     "registered": {
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+     }
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+     0.1137
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+    "dev_deg": {
+     "median": 8.1,
+     "p90": 21.8
+    },
+    "samples": 2467,
+    "accepted": 2364,
+    "wrist_pos_err_mm_median": 56.0,
+    "per_camera": {
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+      "accepted": 2364,
+      "gate_deg": 30.0,
+      "offset_deg": 8.12,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 56.0
+     }
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+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.83
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 4.9,
+      "p90": 6.6
+     },
+     "registered": {
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+      "p90": 6.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:56:28.121991+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/P07/session_004",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_065413_session22"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..78e2fd9c73a66ebd3498bdff69143abf46b49f68
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3af3f79fa4e90dc8ee68a14870a49a6799a23a3b5998241133b0513edc2a8bbb
+size 3306183
diff --git a/actions/locomotion_primitives/P07/session_004/motions/smplx.npz b/actions/locomotion_primitives/P07/session_004/motions/smplx.npz
index 5917131f20a2a7ac45bf4508f18c85838977dce0..af50b8b3b2905beb0cf0ac183e0c01a007ef30d0 100644
--- a/actions/locomotion_primitives/P07/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4569487
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diff --git a/actions/locomotion_primitives/P07/session_005/annotations.json b/actions/locomotion_primitives/P07/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..648b6b2911e1f937994563f150deb265b0f7e06b
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_005/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966656,
+   "video": "left_eye",
+   "video_t_start": 0.039025456628386745
+  }
+ ],
+ "episodes": [
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..72b331ff3e76779a8305bf8597ae94a4930c1505
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 154,
+    "median_px": 22.24,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.359
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9069,
+   "gate_fail": [],
+   "held_out_px_after": 0.618,
+   "held_out_px_before": 6.51,
+   "inliers": 1580,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0789,
+    0.8392,
+    0.3346
+   ],
+   "split_deg": 0.1415,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1098,
+   "gate_fail": [],
+   "held_out_px_after": 0.35,
+   "held_out_px_before": 2.794,
+   "inliers": 2868,
+   "position_fitted": true,
+   "position_mm": [
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+    6.56,
+    12.08
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+   "position_split_mm": 3.531,
+   "rotvec_deg": [
+    -0.0004,
+    0.7487,
+    -0.8191
+   ],
+   "split_deg": 0.0807,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4686,
+   "gate_fail": [],
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+   "held_out_px_before": 2.404,
+   "inliers": 1296,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4479,
+    -0.1256,
+    -0.0568
+   ],
+   "split_deg": 0.0531,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 1.781,
+   "inliers": 3192,
+   "position_fitted": true,
+   "position_mm": [
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+    5.75,
+    10.45
+   ],
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+   "rotvec_deg": [
+    0.1201,
+    0.3198,
+    -0.629
+   ],
+   "split_deg": 0.0552,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 6.191,
+   "inliers": 3880,
+   "position_fitted": false,
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+    0.4831,
+    -1.7906
+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ca16abbffe301860f68297f99847dc351fd7990ce4f731f7dbd0b9cf1b95e2b5",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "931b2a8500ff98eec8a8b5f478fa272ab617d7782934f702241c5a5c83472113",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "3537189fb523cacb",
+ "kind": "online_calibration",
+ "output_sha256": "c54ef354c9fcaabf9a4c2706802361296a3796ae2387b47a1398f3b453212b16",
+ "overlap": {
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+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 40.443,
+  "left_eye": 36.495,
+  "left_front": 44.861,
+  "right": 37.356,
+  "right_eye": 38.08,
+  "right_front": 44.664
+ },
+ "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/P07/session_005/cameras/slam.npz b/actions/locomotion_primitives/P07/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92e7e3befda8414f10a6ce2475a7deaa1fbd9249
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4e7737790d688d792f2feda9c056c1085f7e7200dca8fcc49f96572e1d1231
+size 597347
diff --git a/actions/locomotion_primitives/P07/session_005/meta.json b/actions/locomotion_primitives/P07/session_005/meta.json
index f62a25ee9b06b055cfe0e9c3e76f4eab12a75102..bb740769934fb8439289cfceb5df8b191fbf8828 100644
--- a/actions/locomotion_primitives/P07/session_005/meta.json
+++ b/actions/locomotion_primitives/P07/session_005/meta.json
@@ -347,8 +347,8 @@
   "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": {
@@ -529,10 +529,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.4,
+    "offset_rotvec": [
+     -0.1134,
+     -0.2622,
+     -0.0162
+    ],
+    "dev_deg": {
+     "median": 8.16,
+     "p90": 19.36
+    },
+    "samples": 2685,
+    "accepted": 2604,
+    "wrist_pos_err_mm_median": 47.7,
+    "per_camera": {
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+      "samples": 2685,
+      "accepted": 2604,
+      "gate_deg": 30.0,
+      "offset_deg": 16.4,
+      "tier": "primary",
+      "dev_deg_median": 8.16,
+      "wrist_pos_err_mm_median": 47.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10590,
+     "interpolated": 1882,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.89,
+     "smplx": 0.89
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.7
+     },
+     "registered": {
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+      "p90": 7.2
+     }
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+    "offset_rotvec": [
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+     -0.057,
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+    "dev_deg": {
+     "median": 7.38,
+     "p90": 21.62
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+    "accepted": 2486,
+    "wrist_pos_err_mm_median": 53.2,
+    "per_camera": {
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+      "accepted": 2486,
+      "gate_deg": 30.0,
+      "offset_deg": 9.42,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 53.2
+     }
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+     "interpolated": 2346,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.999,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.79
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.2,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 6.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:56:27.522306+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/P07/session_005",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_065602_session23"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a465734a06331ce93fc34328c949800a3ee6323
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4ced00fa5eff47e84594f486cdf571f992296ec9cf5e1fa9181ae61ef166ada
+size 3613187
diff --git a/actions/locomotion_primitives/P07/session_005/motions/smplx.npz b/actions/locomotion_primitives/P07/session_005/motions/smplx.npz
index 5647b0ed2760536d6c8f116ee847ccfb819ad453..8ad93e4d0923d8ca5d8528be8e8429aabcc6dc55 100644
--- a/actions/locomotion_primitives/P07/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f244bb219c8aad2b77093bc9dd4766177ce1104674fb3546b82b52dbff4d80d5
-size 4794208
+oid sha256:00cc894ad81c283b335f011b28eec1118dc31f84a6fafc85a2350da7098b564b
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diff --git a/actions/locomotion_primitives/P07/session_006/annotations.json b/actions/locomotion_primitives/P07/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..76d626295953a64db943a3a68551dd0aa1d12070
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_006/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966644,
+   "video": "left_eye",
+   "video_t_start": 0.038345649594131004
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P07",
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+   "end_s": 9.746,
+   "t_start": 2.5233,
+   "t_end": 9.7843,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P07",
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+   "end_s": 21.258,
+   "t_start": 12.3223,
+   "t_end": 21.2963,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
+  {
+   "id": "73f36302-3d27-4ebd-8409-2552d0ffed8b",
+   "segment": "segment1",
+   "action": "P07",
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+   "end_s": 33.253,
+   "t_start": 23.3953,
+   "t_end": 33.2913,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
+  {
+   "id": "85f039ef-ed67-444f-a1bf-0d1bd1bbf273",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dce537a6c5b297f1b7bc31ef0b0fc227ed808e5
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 173,
+    "median_px": 25.7,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.327
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9532,
+   "gate_fail": [],
+   "held_out_px_after": 0.591,
+   "held_out_px_before": 6.723,
+   "inliers": 1507,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1059,
+    0.9049,
+    0.2803
+   ],
+   "split_deg": 0.0554,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0399,
+   "gate_fail": [],
+   "held_out_px_after": 0.334,
+   "held_out_px_before": 2.433,
+   "inliers": 2902,
+   "position_fitted": true,
+   "position_mm": [
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+    9.11,
+    13.65
+   ],
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+   "position_split_mm": 3.463,
+   "rotvec_deg": [
+    0.0872,
+    0.6739,
+    -0.7871
+   ],
+   "split_deg": 0.1127,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.4587,
+   "gate_fail": [],
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+   "held_out_px_before": 3.004,
+   "inliers": 1695,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4339,
+    -0.1416,
+    0.046
+   ],
+   "split_deg": 0.0754,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7428,
+   "gate_fail": [],
+   "held_out_px_after": 0.356,
+   "held_out_px_before": 2.267,
+   "inliers": 2943,
+   "position_fitted": true,
+   "position_mm": [
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+    7.42,
+    11.06
+   ],
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+   "position_split_mm": 3.691,
+   "rotvec_deg": [
+    0.1854,
+    0.3536,
+    -0.6264
+   ],
+   "split_deg": 0.1034,
+   "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": 6.605,
+   "inliers": 4538,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3501,
+    0.4352,
+    -1.7981
+   ],
+   "split_deg": 0.006,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b69d7a1be1cea267c12f34cdd25beb3bbd4da4c36baf3947b34c56e1550f7d99",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "24896ae48f67f6ff",
+ "kind": "online_calibration",
+ "output_sha256": "0398754710764f9f19b92de0b22d101e5107d73647b6ec255846910b277f9dd8",
+ "overlap": {
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+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 42.377,
+  "left_eye": 38.315,
+  "left_front": 46.195,
+  "right": 40.377,
+  "right_eye": 40.295,
+  "right_front": 46.262
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   15916081463444,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P07/session_006/cameras/slam.npz b/actions/locomotion_primitives/P07/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6efcbf8acac4282aa709163649488297ac66f632
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd303d3ffe3d37085431f8c35524844addd9c9685bcd04e25b7cb3687f5ae60
+size 766955
diff --git a/actions/locomotion_primitives/P07/session_006/meta.json b/actions/locomotion_primitives/P07/session_006/meta.json
index 90c47a6747b4f4a11ef70f2fa52bab5d57201d83..d8537e9504dd4e7c170d18b4c30abc82b9aedba9 100644
--- a/actions/locomotion_primitives/P07/session_006/meta.json
+++ b/actions/locomotion_primitives/P07/session_006/meta.json
@@ -337,8 +337,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.53,
+    "offset_rotvec": [
+     -0.198,
+     -0.2308,
+     -0.0337
+    ],
+    "dev_deg": {
+     "median": 7.51,
+     "p90": 18.32
+    },
+    "samples": 3854,
+    "accepted": 3752,
+    "wrist_pos_err_mm_median": 68.0,
+    "per_camera": {
+     "head": {
+      "samples": 3854,
+      "accepted": 3752,
+      "gate_deg": 30.0,
+      "offset_deg": 17.53,
+      "tier": "primary",
+      "dev_deg_median": 7.51,
+      "wrist_pos_err_mm_median": 68.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15112,
+     "interpolated": 960,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.1,
+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 11.9
+     },
+     "registered": {
+      "median": 6.6,
+      "p90": 13.3
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.0965,
+     -0.0708,
+     0.1019
+    ],
+    "dev_deg": {
+     "median": 7.15,
+     "p90": 25.74
+    },
+    "samples": 3576,
+    "accepted": 3304,
+    "wrist_pos_err_mm_median": 89.0,
+    "per_camera": {
+     "head": {
+      "samples": 3576,
+      "accepted": 3304,
+      "gate_deg": 30.0,
+      "offset_deg": 9.01,
+      "tier": "primary",
+      "dev_deg_median": 7.15,
+      "wrist_pos_err_mm_median": 89.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13376,
+     "interpolated": 2156,
+     "mean_hand": 552,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9657,
+    "observed_fraction_of_valid": 0.9657,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.36,
+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.8,
+      "p90": 11.6
+     },
+     "registered": {
+      "median": 10.6,
+      "p90": 11.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:56:32.619399+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/P07/session_006",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_101053_session81"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aba4c80e12cfb6b11b7e1234dd8b29fc2609048a
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b453fbf1bdcacd2295fecc200baf0de422fea22e1c481ffb6f9dc7ace84a7aa1
+size 5042700
diff --git a/actions/locomotion_primitives/P07/session_006/motions/smplx.npz b/actions/locomotion_primitives/P07/session_006/motions/smplx.npz
index da9fed9dfbb75c5d576878d5cdc16ed5516d1c68..6ecef010436e1fe3424b2c17c87a2c6ba29026d2 100644
--- a/actions/locomotion_primitives/P07/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:448bb8a00ead92f10391c85aeb626936437eece4d31ccfc50ce486fcef0560ee
-size 6150015
+oid sha256:d15ab7eeb25a3feeb43e26930f214e1442d3e7281831a7c9031af1d26fb25841
+size 11483648
diff --git a/actions/locomotion_primitives/P07/session_007/annotations.json b/actions/locomotion_primitives/P07/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8bd6f9fe55eba693579f8e10b55a49248a8e877
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_007/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966667,
+   "video": "left_eye",
+   "video_t_start": 0.038322240588897216
+  }
+ ],
+ "episodes": [
+  {
+   "id": "ac968122-678a-442f-86c4-0fc4bffbc888",
+   "segment": "segment1",
+   "action": "P07",
+   "quality": "valid",
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+   "end_s": 10.627,
+   "t_start": 2.3013,
+   "t_end": 10.6653,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
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+   "t_end": 22.5983,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
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+   "segment": "segment1",
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc24e38e44f70c8d98d2811a7bcc824de22962eb
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 161,
+    "median_px": 13.36,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.346
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8943,
+   "gate_fail": [],
+   "held_out_px_after": 0.626,
+   "held_out_px_before": 5.481,
+   "inliers": 1333,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.059,
+    0.8477,
+    0.2787
+   ],
+   "split_deg": 0.1262,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0267,
+   "gate_fail": [],
+   "held_out_px_after": 0.396,
+   "held_out_px_before": 2.593,
+   "inliers": 2421,
+   "position_fitted": true,
+   "position_mm": [
+    -8.39,
+    11.01,
+    13.32
+   ],
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+   "position_split_mm": 3.471,
+   "rotvec_deg": [
+    0.0918,
+    0.6741,
+    -0.7689
+   ],
+   "split_deg": 0.1335,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3629,
+   "gate_fail": [],
+   "held_out_px_after": 0.539,
+   "held_out_px_before": 2.735,
+   "inliers": 1374,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3408,
+    -0.1221,
+    0.0257
+   ],
+   "split_deg": 0.2081,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 2641,
+   "position_fitted": true,
+   "position_mm": [
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+    9.11,
+    10.79
+   ],
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+   "position_split_mm": 3.796,
+   "rotvec_deg": [
+    0.1783,
+    0.3246,
+    -0.617
+   ],
+   "split_deg": 0.1442,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "position_fitted": false,
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+    0.464,
+    -1.7872
+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "3c93078e58f833bd5eab11f7d2399ee039bbf07f257ddd91813f88b4a9ddc19d",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "f70054e764d31d2f542267871c24a106993e41bebbb8ef4d6871f49ac38b487f",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "0ff80a2e89ce89f0",
+ "kind": "online_calibration",
+ "output_sha256": "ebe15f7bcd97790a0933571c4c712353dfb2d20b77c20a5f6fa1160f1b378b19",
+ "overlap": {
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+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 46.169,
+  "left_eye": 38.42,
+  "left_front": 48.283,
+  "right": 44.256,
+  "right_eye": 41.319,
+  "right_front": 49.211
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   15963533894000,
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+   16074533894000,
+   16075533960666
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P07/session_007/cameras/slam.npz b/actions/locomotion_primitives/P07/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..12b4c23838b49aa0967ec616ed4b849d0e5de852
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f2ee6397001be54ce2e04291340d583542e887f91921c9f2f2c44c8e603c6ca
+size 737932
diff --git a/actions/locomotion_primitives/P07/session_007/meta.json b/actions/locomotion_primitives/P07/session_007/meta.json
index 10cf95e89c5731f38082435a8bf5cefa13eb5d7f..a37ac76b39aff282a06b97c11572cc742a20f4d5 100644
--- a/actions/locomotion_primitives/P07/session_007/meta.json
+++ b/actions/locomotion_primitives/P07/session_007/meta.json
@@ -333,8 +333,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.37,
+    "offset_rotvec": [
+     -0.2037,
+     -0.2462,
+     -0.0257
+    ],
+    "dev_deg": {
+     "median": 8.07,
+     "p90": 18.61
+    },
+    "samples": 3635,
+    "accepted": 3532,
+    "wrist_pos_err_mm_median": 54.4,
+    "per_camera": {
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+      "samples": 3635,
+      "accepted": 3532,
+      "gate_deg": 30.0,
+      "offset_deg": 18.37,
+      "tier": "primary",
+      "dev_deg_median": 8.07,
+      "wrist_pos_err_mm_median": 54.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14278,
+     "interpolated": 1194,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.67,
+     "smplx": 0.97
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.3,
+      "p90": 7.4
+     },
+     "registered": {
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+     }
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+     "p90": 23.94
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+    "accepted": 3176,
+    "wrist_pos_err_mm_median": 59.7,
+    "per_camera": {
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 59.7
+     }
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+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 5.5
+     },
+     "registered": {
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+      "p90": 5.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:56:29.927120+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/P07/session_007",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_101342_session82"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..de44f86436e7f4557494371d36df8dd18772e1f3
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a834e553c2b3b8ac8466dcbabefe8050573e564d88207d42e05d91f4dfd7d1e
+size 4765430
diff --git a/actions/locomotion_primitives/P07/session_007/motions/smplx.npz b/actions/locomotion_primitives/P07/session_007/motions/smplx.npz
index 70a609e76e4bc30bb47fd1ca8ee597d973d0203b..6a8b4f6a28d58d1b0c288f722ffa59a77d5d29c3 100644
--- a/actions/locomotion_primitives/P07/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5917166
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diff --git a/actions/locomotion_primitives/P07/session_008/annotations.json b/actions/locomotion_primitives/P07/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a88f6a79926910db67eaf8992e7e4adf2f9b397
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_008/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
+ "segments": [
+  {
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+   "duration_s": 133.966578,
+   "video": "left_eye",
+   "video_t_start": 0.0388290047751183
+  }
+ ],
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+  },
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+   "quality": "valid",
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+   "end_s": 126.216,
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+   "t_end": 126.2548,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61f1ecbdc3caf6e39fb5104311a6e037f54b1b7
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 116,
+    "median_px": 15.89,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.325
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9355,
+   "gate_fail": [],
+   "held_out_px_after": 0.632,
+   "held_out_px_before": 6.478,
+   "inliers": 1477,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1215,
+    0.8992,
+    0.2278
+   ],
+   "split_deg": 0.1345,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    12.44
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+    0.1397,
+    0.6838,
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+   ],
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+  },
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    0.4407,
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+    "left_front",
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+    "left_eye",
+    "left",
+    "right"
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+    11.08,
+    8.44
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+    0.2974,
+    0.3399,
+    -0.6227
+   ],
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+   "usable": true
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+  "right_front": {
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+    "left",
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+    0.4397,
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "17f208b1a6762afa",
+ "kind": "online_calibration",
+ "output_sha256": "3d5e6dcb1410030c176b3d8b26c77d029a978b3c9ba9c9aa9228c0447edcca63",
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+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
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+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 38.773,
+  "left_eye": 37.715,
+  "left_front": 46.164,
+  "right": 37.975,
+  "right_eye": 40.034,
+  "right_front": 45.159
+ },
+ "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/P07/session_008/cameras/slam.npz b/actions/locomotion_primitives/P07/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2d7e5bb2fce4b10f723895c021f08b715f83f6b0
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0b98b3b37148227fe62d0d2183d821e6e6be5aed8e80f2499856255327853d
+size 765673
diff --git a/actions/locomotion_primitives/P07/session_008/meta.json b/actions/locomotion_primitives/P07/session_008/meta.json
index af048b208ea2b5612797483cbb2a1bcf5f45a128..845f4ae85c1fdb03749d4d9be06ce0637a8364af 100644
--- a/actions/locomotion_primitives/P07/session_008/meta.json
+++ b/actions/locomotion_primitives/P07/session_008/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.42,
+    "offset_rotvec": [
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+     -0.2551,
+     -0.0368
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+     "p90": 20.85
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+    "samples": 3695,
+    "accepted": 3592,
+    "wrist_pos_err_mm_median": 51.5,
+    "per_camera": {
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+      "accepted": 3592,
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+      "tier": "primary",
+      "dev_deg_median": 8.61,
+      "wrist_pos_err_mm_median": 51.5
+     }
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+     "interpolated": 1530,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.97,
+     "smplx": 0.96
+    },
+    "hand_marker_to_mesh_mm": {
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+    "accepted": 3225,
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+    "per_camera": {
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+      "tier": "primary",
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9891,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 5.8
+     },
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+      "p90": 5.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:56:32.828026+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/P07/session_008",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_101606_session83"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_008/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4914955
diff --git a/actions/locomotion_primitives/P07/session_008/motions/smplx.npz b/actions/locomotion_primitives/P07/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P07/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6130507
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diff --git a/actions/locomotion_primitives/P07/session_009/annotations.json b/actions/locomotion_primitives/P07/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..675f35ebf92db50599f05abb051cdd9ccd55a004
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_009/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.03838683195357451
+  }
+ ],
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+  },
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..54b9b49f01b2def634dac581ece429509fcc44e6
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
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+    "pair": [
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+  "median_px": 0.392
+ },
+ "cameras": {
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+  },
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+ "factory_root_name": "850a0e6aafa85fdf",
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+  "right_eye-left": 0.708,
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+  "right_eye-right": 0.668,
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_eye": 37.572,
+  "left_front": 44.367,
+  "right": 37.03,
+  "right_eye": 38.961,
+  "right_front": 44.562
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
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+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P07/session_009/cameras/slam.npz b/actions/locomotion_primitives/P07/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2a60e9071026518057d05832675d4b380a82d3ac
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1639eeb9aa9c919334ecff9bbaab888b93b09a88dcb710a272ee30b2ecaea048
+size 709938
diff --git a/actions/locomotion_primitives/P07/session_009/meta.json b/actions/locomotion_primitives/P07/session_009/meta.json
index e6697055b983392963a75193107cfab5f3617820..d9bf1d81c6bdc8c905a0cd92b7b94a2511ff265a 100644
--- a/actions/locomotion_primitives/P07/session_009/meta.json
+++ b/actions/locomotion_primitives/P07/session_009/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.0113
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+     "p90": 21.72
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+    "accepted": 3085,
+    "wrist_pos_err_mm_median": 59.3,
+    "per_camera": {
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+      "accepted": 3085,
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+      "offset_deg": 17.58,
+      "tier": "primary",
+      "dev_deg_median": 9.41,
+      "wrist_pos_err_mm_median": 59.3
+     }
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+     "interpolated": 2316,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.03
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+    "hand_marker_to_mesh_mm": {
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+    "accepted": 2902,
+    "wrist_pos_err_mm_median": 88.3,
+    "per_camera": {
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+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "p90": 5.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:58:50.331959+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/P07/session_009",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260831/P07/20260831_101829_session84"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4882d71d7f946acb6acaba92a0385e32bf19d70e
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37b6b13efb1be2cffdf1990f40dfd52c160ce668d0aa9142306dfe14908da8f2
+size 4370064
diff --git a/actions/locomotion_primitives/P07/session_009/motions/smplx.npz b/actions/locomotion_primitives/P07/session_009/motions/smplx.npz
index 94e2e3764f4be3060a9ea9bab0b766639d8510c2..4e9104cc8b54785af6727a5e6b76ae134725c082 100644
--- a/actions/locomotion_primitives/P07/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5684937
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diff --git a/actions/locomotion_primitives/P07/session_010/annotations.json b/actions/locomotion_primitives/P07/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..657cf42f04277aec89a3ee3ec9df0397a873bf8b
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_010/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
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+   "video": "left_eye",
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+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a242b2ad6f56e76ff4882ec9a6ad0b73db64eece
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+ },
+ "cameras": {
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+    "right_front",
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+   "rotvec_deg": [
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+    0.8474,
+    0.2498
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+   "usable": true
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+   "against": [
+    "left_front",
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+    "left_eye",
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+  "right_front-right_eye": 0.724
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+  "right_eye": 40.219,
+  "right_front": 45.657
+ },
+ "runtime": {
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+}
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diff --git a/actions/locomotion_primitives/P07/session_010/cameras/slam.npz b/actions/locomotion_primitives/P07/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..19d313bd2b8cc1c9704f3202d2ec310b3ce56b7a
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_010/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/P07/session_010/meta.json b/actions/locomotion_primitives/P07/session_010/meta.json
index 061235f4bd6c10efaf4c5d804a2abc2a12f45678..9d6cdd306a93dcc25b4dc984f4d63a6477b36074 100644
--- a/actions/locomotion_primitives/P07/session_010/meta.json
+++ b/actions/locomotion_primitives/P07/session_010/meta.json
@@ -332,8 +332,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T12:58:49.322992+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": "P07",
   "source_session": "20260831/P07/20260831_102045_session85"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..877b52925c444876568d861219420a7825f6da0a
--- /dev/null
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--- a/actions/locomotion_primitives/P07/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_010/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..c38239b037c61eac5822d166274253d1c18f0ce9
--- /dev/null
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@@ -0,0 +1,127 @@
+{
+ "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": "P07",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..51d338b05a92fd38b87b10be2e643e3fa1ea8cec
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+ },
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+  "right_front-left_eye": 0.711,
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+  "right_front-right_eye": 0.724
+ },
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+  "left_front": 49.643,
+  "right": 37.525,
+  "right_eye": 39.871,
+  "right_front": 50.644
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+ "runtime": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P07/session_011/cameras/slam.npz b/actions/locomotion_primitives/P07/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0dd5b029ee02a43542167a94989c0e9d19c81bfa
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 679962
diff --git a/actions/locomotion_primitives/P07/session_011/meta.json b/actions/locomotion_primitives/P07/session_011/meta.json
index f8c4520fcfbf0a3a07f06696daed1ef7370d8f4b..5fb7ad3f163b6914c0421412b825814efd3cdc8c 100644
--- a/actions/locomotion_primitives/P07/session_011/meta.json
+++ b/actions/locomotion_primitives/P07/session_011/meta.json
@@ -333,8 +333,8 @@
   "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 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
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+  "cameras_used": [
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260831/P07/20260831_102255_session86"
+ },
+ "task": {
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+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..439ce15c3b9aceceda377445fcb164f2dc64e7e0
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4314240
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--- a/actions/locomotion_primitives/P07/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_011/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..6fe60b8b7621a7625782a1d904097bf1b7a40d0c
--- /dev/null
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@@ -0,0 +1,127 @@
+{
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+ "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": "P07",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P07/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf03b6a843cbd22a8cb2d0053d4470fe764349c
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
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+ },
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+}
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diff --git a/actions/locomotion_primitives/P07/session_012/cameras/slam.npz b/actions/locomotion_primitives/P07/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9569c17eb311e1fe96022f39414f92a7d536185d
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_012/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/P07/session_012/meta.json b/actions/locomotion_primitives/P07/session_012/meta.json
index e46c305845f3d9a7172f75c6112edf35f87e518e..7e46c6ab273e241eff16995115b384dd94388569 100644
--- a/actions/locomotion_primitives/P07/session_012/meta.json
+++ b/actions/locomotion_primitives/P07/session_012/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": {
@@ -524,10 +524,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.1661,
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+      "tier": "primary",
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T13:46:39.364115+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",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260904/P07/20260904_022057_session10"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6eddfc412c8ca02c248da5511bab562db598d70b
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a30cf1bbedd9c7f94a2a21c056e75012b5e02479bc6aab3a2de3652c6dfcc86
+size 4614393
diff --git a/actions/locomotion_primitives/P07/session_012/motions/smplx.npz b/actions/locomotion_primitives/P07/session_012/motions/smplx.npz
index afaed5043654cf426bbe1f611f456c02bd3f8b8e..425cc20050f2e87d2756b241ef4cb1a0c8875844 100644
--- a/actions/locomotion_primitives/P07/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5912065
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diff --git a/actions/locomotion_primitives/P07/session_013/annotations.json b/actions/locomotion_primitives/P07/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a725adc47e69f3ccb2665aa00ea0686bd0f7bafd
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_013/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_013/cameras/slam.npz b/actions/locomotion_primitives/P07/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5607bbc58087676af0116c2a9ba21c228a260745
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a63eaed3c7251e83253a3ddfefb3631304aacf9be14330d50c3953c225e27731
+size 370524
diff --git a/actions/locomotion_primitives/P07/session_013/meta.json b/actions/locomotion_primitives/P07/session_013/meta.json
index af0a68ea34a3f6d67571c3ac9c1f45c769d30d05..7c3face9d3e3057306260d4affeeafae7e4a65eb 100644
--- a/actions/locomotion_primitives/P07/session_013/meta.json
+++ b/actions/locomotion_primitives/P07/session_013/meta.json
@@ -327,8 +327,8 @@
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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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@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.98621772895896
  },
+ "hands_registration": {
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+      "tier": "primary",
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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": {
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   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260908/P07/20260908_053828_session33"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_013/motions/hands_mano.npz
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+++ b/actions/locomotion_primitives/P07/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P07/session_013/motions/smplx.npz b/actions/locomotion_primitives/P07/session_013/motions/smplx.npz
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--- a/actions/locomotion_primitives/P07/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P07/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P07/session_014/annotations.json b/actions/locomotion_primitives/P07/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a974a4bcef1151fef71ffb0ef2de2fc93ba0ba26
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_014/annotations.json
@@ -0,0 +1,127 @@
+{
+ "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": "P07",
+ "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 88.9667,
+   "video": "left_eye",
+   "video_t_start": 0.038471862448076655
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P07",
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+   "start_s": 0,
+   "end_s": 8.092,
+   "t_start": 0.0385,
+   "t_end": 8.1305,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
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+   "segment": "segment1",
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+   "end_s": 18.295,
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
+  {
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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+   "segment": "segment1",
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
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+   "segment": "segment1",
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+   "t_end": 70.7065,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
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+   "segment": "segment1",
+   "action": "P07",
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+   "t_start": 72.6265,
+   "t_end": 78.9695,
+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "quality": "valid",
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+   "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P07/session_014/cameras/slam.npz b/actions/locomotion_primitives/P07/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e67dde903be6b5eeba8e9ab41332ee62607751c8
--- /dev/null
+++ b/actions/locomotion_primitives/P07/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7258af1a2f043feb91de515cebd7637a6dc47ac17696084e678300960a3efe03
+size 514452
diff --git a/actions/locomotion_primitives/P07/session_014/meta.json b/actions/locomotion_primitives/P07/session_014/meta.json
index 45af58ab897e0f4b7261fbaf8d215fa83b9c4191..a440b6b732a5f794884022ed38c61a6c8cc29a8f 100644
--- a/actions/locomotion_primitives/P07/session_014/meta.json
+++ b/actions/locomotion_primitives/P07/session_014/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": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7311509099903569
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.2496,
+     -0.3244,
+     -0.0738
+    ],
+    "dev_deg": {
+     "median": 17.2,
+     "p90": 24.95
+    },
+    "samples": 1909,
+    "accepted": 1872,
+    "wrist_pos_err_mm_median": 149.6,
+    "per_camera": {
+     "head": {
+      "samples": 1909,
+      "accepted": 1872,
+      "gate_deg": 30.0,
+      "offset_deg": 23.83,
+      "tier": "primary",
+      "dev_deg_median": 17.2,
+      "wrist_pos_err_mm_median": 149.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7694,
+     "interpolated": 2634,
+     "mean_hand": 19,
+     "no_body_fit": 337
+    },
+    "observed_fraction": 0.9667,
+    "observed_fraction_of_valid": 0.9982,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.93,
+     "smplx": 0.37
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.8,
+      "p90": 5.7
+     },
+     "registered": {
+      "median": 4.6,
+      "p90": 6.4
+     }
+    }
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+    "offset_rotvec": [
+     0.1157,
+     0.3461,
+     0.0218
+    ],
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+     "p90": 22.61
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+    "accepted": 2179,
+    "wrist_pos_err_mm_median": 149.0,
+    "per_camera": {
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+      "accepted": 2179,
+      "gate_deg": 30.0,
+      "offset_deg": 20.95,
+      "tier": "primary",
+      "dev_deg_median": 15.5,
+      "wrist_pos_err_mm_median": 149.0
+     }
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+     "interpolated": 1412,
+     "mean_hand": 119,
+     "no_body_fit": 337
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+    "observed_fraction": 0.9573,
+    "observed_fraction_of_valid": 0.9885,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.12,
+     "smplx": 0.36
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 8.1
+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 8.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:39:24.639691+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/P07/session_014",
   "family": "locomotion_primitives",
   "primitive": "P07",
   "source_session": "20260909/P07/20260909_035324_session61"
+ },
+ "task": {
+  "primitive": "P07",
+  "instruction": "Stand still 2 s; begin walking naturally; walk forward; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P07/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P07/session_014/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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