diff --git a/.gitattributes b/.gitattributes
index fa6582e85a4046dbe5d59bde06c2e7b22e1655f7..9cac5acbba13caaa7c63e96b82521197516eb9ce 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -48576,3 +48576,21 @@ actions/locomotion_posture_dynamics/D34/session_008/raw/sensors/robowrist_imu_le
 actions/locomotion_posture_dynamics/D34/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_posture_dynamics/D34/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
 actions/locomotion_posture_dynamics/D34/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D37/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
+actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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+actions/locomotion_posture_dynamics/D40/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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diff --git a/actions/locomotion_posture_dynamics/D37/session_008/cameras/slam.npz b/actions/locomotion_posture_dynamics/D37/session_008/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D37/session_008/meta.json b/actions/locomotion_posture_dynamics/D37/session_008/meta.json
index 03478c4faa4ea25cef2052be321146ebfd25ef4c..ce8ced734fb5a4fcaf33c40423362ab848fe4c34 100644
--- a/actions/locomotion_posture_dynamics/D37/session_008/meta.json
+++ b/actions/locomotion_posture_dynamics/D37/session_008/meta.json
@@ -325,8 +325,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3299073927486775
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.3519,
+     0.0104
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+     "p90": 33.77
+    },
+    "samples": 586,
+    "accepted": 506,
+    "wrist_pos_err_mm_median": 201.9,
+    "per_camera": {
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+      "accepted": 506,
+      "gate_deg": 30.0,
+      "offset_deg": 30.42,
+      "tier": "primary",
+      "dev_deg_median": 16.43,
+      "wrist_pos_err_mm_median": 201.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 2252,
+     "interpolated": 4296,
+     "mean_hand": 529,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9243,
+    "observed_fraction_of_valid": 0.9253,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 38.09,
+     "smplx": 0.94
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.4,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 9.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 34.63,
+    "offset_rotvec": [
+     0.3791,
+     0.4685,
+     0.0472
+    ],
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+     "median": 24.29,
+     "p90": 43.51
+    },
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+    "accepted": 391,
+    "wrist_pos_err_mm_median": 234.5,
+    "per_camera": {
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+      "accepted": 391,
+      "gate_deg": 30.0,
+      "offset_deg": 34.63,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 234.5
+     }
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.83
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+      "p90": 9.6
+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:41:00.522806+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_posture_dynamics",
   "primitive": "D37",
   "source_session": "20260923/D37/20260923_120512_session56"
+ },
+ "task": {
+  "primitive": "D37",
+  "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D37/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D37/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..15e055b835216e852a7ee9aa82ffe95a56de6359
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 856675
diff --git a/actions/locomotion_posture_dynamics/D37/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D37/session_008/motions/smplx.npz
index a346dc001e7f13640c8ab8504acd475b1474026e..8db0b57994b77125d82424caadb147aaf6d34aaf 100644
--- a/actions/locomotion_posture_dynamics/D37/session_008/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D37/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D37/session_009/annotations.json b/actions/locomotion_posture_dynamics/D37/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c9ad504ab2c463a0bad56a8ba5ea415be3f420f
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_009/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D37",
+ "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "end_s": 26.559,
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+   "t_end": 26.598,
+   "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
+  },
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+   "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D37/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D37/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..581d2041f5b758d03bc8b26ca17b79d7fe71fdae
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,252 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.371
+ },
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+   "against": [
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+    0.7866,
+    -2.3706
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+   "usable": true
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+    "right_front",
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+ "factory_root_name": "e17c9efadb69e7b1",
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diff --git a/actions/locomotion_posture_dynamics/D37/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D37/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8edebf1f5d39d61f059b1bf22cccaa54e353bd20
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D37/session_009/meta.json b/actions/locomotion_posture_dynamics/D37/session_009/meta.json
index 70c0cd7b2eec8fd2e8a68d88aec93cccffcd3139..0c5691becb5bc9257d066536e9f738ddce0fac81 100644
--- a/actions/locomotion_posture_dynamics/D37/session_009/meta.json
+++ b/actions/locomotion_posture_dynamics/D37/session_009/meta.json
@@ -353,8 +353,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -543,10 +543,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4539904638921468
  },
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+    "accepted": 568,
+    "wrist_pos_err_mm_median": 269.1,
+    "per_camera": {
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+      "accepted": 568,
+      "gate_deg": 30.0,
+      "offset_deg": 30.81,
+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 8.67
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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",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_posture_dynamics",
   "primitive": "D37",
   "source_session": "20260929/D37/20260929_021936_session37"
+ },
+ "task": {
+  "primitive": "D37",
+  "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D37/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D37/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7158f7ed1e5754b65dee5ac62e2bd1a5877c032c
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 1517048
diff --git a/actions/locomotion_posture_dynamics/D37/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D37/session_009/motions/smplx.npz
index e28eb2603355e9024ff8d5f014e869504906af5b..a64d0631486979b1f850a9fc48ba177832bf4453 100644
--- a/actions/locomotion_posture_dynamics/D37/session_009/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D37/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..e418980019d55333f06a6273a049245f95324a65
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_010/annotations.json
@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "D37",
+ "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
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+  }
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+}
diff --git a/actions/locomotion_posture_dynamics/D37/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D37/session_010/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D37/session_010/meta.json b/actions/locomotion_posture_dynamics/D37/session_010/meta.json
index f3748abaf0694ee73a979ed26d625ee24c4f4217..a319087c8864ba5d2a01cf87dfc1c7dc11ba86d5 100644
--- a/actions/locomotion_posture_dynamics/D37/session_010/meta.json
+++ b/actions/locomotion_posture_dynamics/D37/session_010/meta.json
@@ -322,8 +322,8 @@
   "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": {
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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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@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "family": "locomotion_posture_dynamics",
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   "source_session": "20260929/D37/20260929_094742_session183"
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+ "task": {
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+  "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
  }
 }
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+}
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@@ -0,0 +1,253 @@
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diff --git a/actions/locomotion_posture_dynamics/D37/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D37/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9883ad819dd05f076337fde99595f000dd76f249
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 425333
diff --git a/actions/locomotion_posture_dynamics/D37/session_011/meta.json b/actions/locomotion_posture_dynamics/D37/session_011/meta.json
index eb9157dec5e2f1ce8bc1f43fc5154dd66d09210d..5fe89b19fba0b2c3b656dddba8ab6051fdacde22 100644
--- a/actions/locomotion_posture_dynamics/D37/session_011/meta.json
+++ b/actions/locomotion_posture_dynamics/D37/session_011/meta.json
@@ -340,8 +340,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -527,10 +527,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D37/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D37/session_011/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 1965945
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index 7cb0d5b65a0a5c216d49f4baa18ef14c18649efb..b664867fc6114511d0a0173bbdc9d8593e354c03 100644
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+++ b/actions/locomotion_posture_dynamics/D37/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 3408151
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_012/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D37",
+ "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
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+}
diff --git a/actions/locomotion_posture_dynamics/D37/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D37/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..51bfc871a38a7a5a8a4a34fec8ec5269bef5d941
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,252 @@
+{
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+    "right_front",
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+ "factory_root_name": "e17c9efadb69e7b1",
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diff --git a/actions/locomotion_posture_dynamics/D37/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D37/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..18b440f0307915031fcd06e16dcd5a049025e30f
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
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index d6e7960adc7426ed0026e5a734e5d420d74435f9..315aeb1f2b2f00a05d05be162ecb411e5db7d53d 100644
--- a/actions/locomotion_posture_dynamics/D37/session_012/meta.json
+++ b/actions/locomotion_posture_dynamics/D37/session_012/meta.json
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   "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": {
@@ -540,10 +540,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 2.519547737649423
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 20.77,
+    "offset_rotvec": [
+     0.3539,
+     -0.0638,
+     0.0467
+    ],
+    "dev_deg": {
+     "median": 23.8,
+     "p90": 34.19
+    },
+    "samples": 1381,
+    "accepted": 1075,
+    "wrist_pos_err_mm_median": 47.9,
+    "per_camera": {
+     "head": {
+      "samples": 1381,
+      "accepted": 1075,
+      "gate_deg": 30.0,
+      "offset_deg": 20.77,
+      "tier": "primary",
+      "dev_deg_median": 23.8,
+      "wrist_pos_err_mm_median": 47.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4506,
+     "interpolated": 2294,
+     "mean_hand": 284,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9599,
+    "observed_fraction_of_valid": 0.9599,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.62,
+     "smplx": 1.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.3,
+      "p90": 17.2
+     },
+     "registered": {
+      "median": 8.7,
+      "p90": 13.9
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.4049,
+     -0.2165,
+     0.2361
+    ],
+    "dev_deg": {
+     "median": 25.5,
+     "p90": 56.25
+    },
+    "samples": 1102,
+    "accepted": 648,
+    "wrist_pos_err_mm_median": 95.9,
+    "per_camera": {
+     "head": {
+      "samples": 1102,
+      "accepted": 648,
+      "gate_deg": 30.0,
+      "offset_deg": 29.58,
+      "tier": "primary",
+      "dev_deg_median": 25.5,
+      "wrist_pos_err_mm_median": 95.9
+     }
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+     "interpolated": 2384,
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.7126,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.75,
+     "smplx": 0.72
+    },
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+      "p90": 13.2
+     },
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+      "p90": 12.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:09:54.818640+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_posture_dynamics/D37/session_012",
   "family": "locomotion_posture_dynamics",
   "primitive": "D37",
   "source_session": "20261013/D37/20261013_103146_session187"
+ },
+ "task": {
+  "primitive": "D37",
+  "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D37/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D37/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6521dee0ad0e49aa8fb235966dcb5ad9c11524c9
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38775ea4972f4706d1803825a1cb7ec027b290b2297d621b137aeb52ab9cb8bf
+size 1734996
diff --git a/actions/locomotion_posture_dynamics/D37/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D37/session_012/motions/smplx.npz
index 7fb07e3ad1a456f89c37d34cf7f06593ea7d404e..327a430e37bcb6fdc0dc06c547578fce2022fe61 100644
--- a/actions/locomotion_posture_dynamics/D37/session_012/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D37/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4355985d27bee0f347185cf11c0972bcb7a7497209891f90dfe3efd72d1c0199
-size 2725216
+oid sha256:d852259d610ee50a390e1157f7a53a3ef3b3c589dfb91acba00ef26bf2b3c98b
+size 4837355
diff --git a/actions/locomotion_posture_dynamics/D37/session_013/annotations.json b/actions/locomotion_posture_dynamics/D37/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..8482998dd1d318c8f16124f8f0b2c5967c17451b
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_013/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D37",
+ "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 52.0667,
+   "video": "left_eye",
+   "video_t_start": 0.04017917745831909
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7acedd05-115a-46e3-a909-1b4f175b79db",
+   "segment": "segment1",
+   "action": "D37",
+   "quality": "valid",
+   "start_s": 2,
+   "end_s": 24.112,
+   "t_start": 2.0402,
+   "t_end": 24.1522,
+   "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
+  },
+  {
+   "id": "d0806598-3022-43bd-aafe-5b2f6a5407b3",
+   "segment": "segment1",
+   "action": "D37",
+   "quality": "valid",
+   "start_s": 30.246,
+   "end_s": 45.896,
+   "t_start": 30.2862,
+   "t_end": 45.9362,
+   "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D37/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D37/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c46662ce8b8c13e8f033c5019336a81b9106e80
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,218 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 13,
+  "median_px": 0.298
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.6162,
+   "gate_fail": [],
+   "held_out_px_after": 0.371,
+   "held_out_px_before": 20.677,
+   "inliers": 2405,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.4345,
+    -0.1809,
+    -0.7223
+   ],
+   "split_deg": 0.0272,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.647,
+   "gate_fail": [],
+   "held_out_px_after": 0.335,
+   "held_out_px_before": 9.574,
+   "inliers": 3977,
+   "position_fitted": true,
+   "position_mm": [
+    6.77,
+    -24.32,
+    4.35
+   ],
+   "position_sigma_mm": 0.432,
+   "position_split_mm": 1.84,
+   "rotvec_deg": [
+    1.5963,
+    -0.9559,
+    1.8827
+   ],
+   "split_deg": 0.0297,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 3.3199,
+   "gate_fail": [],
+   "held_out_px_after": 0.488,
+   "held_out_px_before": 8.011,
+   "inliers": 308,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5553,
+    -1.1608,
+    2.6936
+   ],
+   "split_deg": 0.0771,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.1768,
+   "gate_fail": [],
+   "held_out_px_after": 0.325,
+   "held_out_px_before": 5.24,
+   "inliers": 4131,
+   "position_fitted": true,
+   "position_mm": [
+    2.6,
+    -17.9,
+    -1.83
+   ],
+   "position_sigma_mm": 0.322,
+   "position_split_mm": 3.122,
+   "rotvec_deg": [
+    1.8897,
+    -1.1334,
+    2.2883
+   ],
+   "split_deg": 0.0255,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 0.4422,
+   "gate_fail": [],
+   "held_out_px_after": 0.261,
+   "held_out_px_before": 2.403,
+   "inliers": 4645,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2311,
+    -0.3749,
+    -0.0397
+   ],
+   "split_deg": 0.009,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1fda3bb02e45f88155af154e794aa0b8cd815e039c1f012b8f32b628bb5ba8b3",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8ecc9611cdb8f47f3bd37f36da940e04254a1f43b22134bc480370877c9a1fa4",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0d6665b152421b59848e4b8390781ef3d468de4014e0e97380bb03e3b3c758a5",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8d51deac0f9d73c9e8d34b8daadc539f8412d64956a11552aacfcad963690962",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "6fcecbc6246235b2",
+ "kind": "online_calibration",
+ "output_sha256": "975194c5b80422d29ec3ddb448eb19a955988d274d738c212fa7e6a279332444",
+ "overlap": {
+  "left-right": 0.5,
+  "left_eye-left": 0.695,
+  "left_eye-right": 0.702,
+  "left_front-left": 0.506,
+  "left_front-left_eye": 0.692,
+  "left_front-right": 0.458,
+  "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": 23.337,
+  "left_eye": 17.845,
+  "left_front": 26.951,
+  "right": 17.094,
+  "right_eye": 17.978,
+  "right_front": 27.466
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   2966795631111,
+   2967795631111,
+   2968795631111,
+   2969795620000,
+   2970795631111,
+   2971795631111,
+   2972795631111,
+   2973795631111,
+   2974795631111,
+   2975795642222,
+   2976795620000,
+   2977795631111,
+   2978795631111,
+   2979795620000,
+   2980795631111,
+   2981795620000,
+   2982795620000,
+   2983795631111,
+   2984795631111,
+   2985795642222
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D37/session_013/cameras/slam.npz b/actions/locomotion_posture_dynamics/D37/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..37de021ad2b1585d311b0a41fb2f710d8b242b82
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0946d110cf90f9f61ee01c3e1973e05529b0114e0468e33ba102a171d134a58d
+size 299481
diff --git a/actions/locomotion_posture_dynamics/D37/session_013/meta.json b/actions/locomotion_posture_dynamics/D37/session_013/meta.json
index a49455df2988b89d6ddea7f57a6a4b72b7e6d37a..26b41cef0322d1ec392f2ee617f4ca46a697a097 100644
--- a/actions/locomotion_posture_dynamics/D37/session_013/meta.json
+++ b/actions/locomotion_posture_dynamics/D37/session_013/meta.json
@@ -379,8 +379,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.87,
+    "offset_rotvec": [
+     0.1892,
+     -0.3738,
+     0.1131
+    ],
+    "dev_deg": {
+     "median": 16.01,
+     "p90": 26.34
+    },
+    "samples": 1252,
+    "accepted": 1165,
+    "wrist_pos_err_mm_median": 48.0,
+    "per_camera": {
+     "head": {
+      "samples": 1252,
+      "accepted": 1165,
+      "gate_deg": 30.0,
+      "offset_deg": 24.87,
+      "tier": "primary",
+      "dev_deg_median": 16.01,
+      "wrist_pos_err_mm_median": 48.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4784,
+     "interpolated": 1460,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9981,
+    "observed_fraction_of_valid": 0.9981,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.68,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 13.2
+     },
+     "registered": {
+      "median": 10.5,
+      "p90": 13.4
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.03,
+    "offset_rotvec": [
+     0.2297,
+     0.1251,
+     0.1414
+    ],
+    "dev_deg": {
+     "median": 18.39,
+     "p90": 33.27
+    },
+    "samples": 1182,
+    "accepted": 1003,
+    "wrist_pos_err_mm_median": 43.7,
+    "per_camera": {
+     "head": {
+      "samples": 1182,
+      "accepted": 1003,
+      "gate_deg": 30.0,
+      "offset_deg": 17.03,
+      "tier": "primary",
+      "dev_deg_median": 18.39,
+      "wrist_pos_err_mm_median": 43.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4154,
+     "interpolated": 1786,
+     "mean_hand": 316,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9495,
+    "observed_fraction_of_valid": 0.9495,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.49,
+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.5,
+      "p90": 12.9
+     },
+     "registered": {
+      "median": 6.1,
+      "p90": 11.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:37:07.867416+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_posture_dynamics/D37/session_013",
   "family": "locomotion_posture_dynamics",
   "primitive": "D37",
   "source_session": "20261019/D37/20261019_013150_session12"
+ },
+ "task": {
+  "primitive": "D37",
+  "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D37/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D37/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b365f94d0e189016c2dedc125bab97bcc6e22448
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b51519cd041e3c6501cd3fb02f7912d9604da35a939836cce432c68ed233ff9d
+size 1678461
diff --git a/actions/locomotion_posture_dynamics/D37/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D37/session_013/motions/smplx.npz
index 8fef3a8758e2b39d354bffb13910b163ffdae3f0..11522a532146616b2f7fc4af4a7e99aa4e759e9f 100644
--- a/actions/locomotion_posture_dynamics/D37/session_013/motions/smplx.npz
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+ "release": {
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+  "family": "locomotion_posture_dynamics",
+  "primitive": "D37",
+  "source_session": "20261027/D37/20261027_110657_session51"
+ },
+ "task": {
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+  "instruction": "Move your feet as fast as you can on the spot with small quick steps, until the operator says stop."
+ }
+}
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diff --git a/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.csv b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..928d2fac83dc4ff2a72c828c2986d0012b40464a
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e9b632cf2d50de312d0d15eb3872d232627d3a37572455d4692613f1bd557aa
+size 66580027
diff --git a/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.trc b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.trc
new file mode 100644
index 0000000000000000000000000000000000000000..731de675b5dbcab6849b0f1c3765c17f10c33f1f
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Body0.trc
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:214513b94d2131b109e0fd703e1284ded6200e81b3889d522969873505334488
+size 14399903
diff --git a/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.csv b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1078ec5b1c275b8a6356ba569857a40ca07eface
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.csv
@@ -0,0 +1,7952 @@
+#Hierarchical Translation and Rotation (.csv) file
+[Head]
+NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits
+7940,1,120,ZYX,Y,mm
+
+[SegmentNames&Hierarchy]
+Segment,Parent
+Segment1,Global
+
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diff --git a/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.trc b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.trc
new file mode 100644
index 0000000000000000000000000000000000000000..2f2bf95eac9452b8046270d0b287189bf67ad6ab
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D37/session_014/raw/mocap/Tracker0.trc
@@ -0,0 +1,7946 @@
+PathFileType	4	(X/Y/Z)	D:/nokov/20261027-afternoon/mocap-D37-S04-gaoziyue-02p1/mocap-D37-S04-gaoziyue-02p1-Tracker0.trc
+DataRate	CameraRate	NumFrames	NumMarkers	Units	OrigDataRate	OrigDataStartFrame	OrigNumFrames	useTimeStamp
+120	120	      7940	4	mm	120	1	      7940	         1
+Frame#	Time	Timestamp	Marker1			Marker2			Marker3			Marker4			RCalc::Marker1			RCalc::Marker2			RCalc::Marker3			RCalc::Marker4			
+			X1	Y1	Z1	X2	Y2	Z2	X3	Y3	Z3	X4	Y4	Z4	X1	Y1	Z1	X2	Y2	Z2	X3	Y3	Z3	X4	Y4	Z4	
+
+1	0.000	1793099202354	53.981823	1578.420288	-195.113937	81.582970	1573.875610	-271.011414	202.512405	1572.706055	-278.513428	251.560364	1569.585327	-205.443222	54.185452	1578.497437	-195.498077	82.278702	1573.726685	-270.779358	201.301376	1572.890747	-278.687134	251.872040	1569.472412	-205.117432	
+2	0.008	1793099202363	326.552032	1571.467529	-226.398911	291.121368	1557.785400	-155.376648	169.386292	1554.145752	-161.892426	129.297089	1558.546021	-239.386032	326.221313	1571.463135	-226.176926	290.116577	1557.700562	-155.563187	171.016434	1554.243286	-161.293381	129.002502	1558.537720	-240.020538	
+3	0.016	1793099202371	326.447571	1571.371094	-226.166855	291.764954	1557.936279	-155.613144	169.262711	1554.124023	-161.739563	129.273148	1558.425537	-239.344971	326.287964	1571.434814	-226.231476	290.250549	1557.769653	-155.564438	171.147003	1554.251343	-161.185608	129.062881	1558.401245	-239.883011	
+4	0.025	1793099202379	326.464508	1571.554932	-225.890945	291.635712	1557.908203	-155.427261	169.267349	1554.091064	-161.654968	129.167679	1558.421143	-239.322327	326.253876	1571.593262	-225.981293	290.162476	1557.780273	-155.370560	171.066986	1554.176392	-161.107315	129.051910	1558.425415	-239.836334	
+5	0.033	1793099202388	326.406128	1571.542358	-225.654984	291.543610	1557.794312	-155.216888	169.247177	1554.019165	-161.547394	129.305466	1558.441650	-239.189804	326.268341	1571.578125	-225.726440	290.125397	1557.678467	-155.159103	171.033676	1554.093628	-160.985077	129.074982	1558.447388	-239.738449	
+6	0.041	1793099202396	326.335968	1571.364746	-225.309372	291.454956	1557.876587	-155.002426	169.132248	1553.975220	-161.406525	129.185211	1558.383423	-239.129196	326.205231	1571.453613	-225.450012	289.982910	1557.680176	-154.898636	170.896591	1554.116089	-160.846680	129.023682	1558.350098	-239.652206	
+7	0.050	1793099202404	326.152069	1571.381226	-225.147324	291.181183	1557.757446	-154.858139	168.853973	1554.018066	-161.349365	129.154434	1558.404907	-239.016418	326.038239	1571.431274	-225.256149	289.762329	1557.622803	-154.739151	170.678970	1554.103271	-160.772125	128.862152	1558.404297	-239.603806	
+8	0.058	1793099202413	326.154144	1571.423218	-224.907623	291.115021	1557.824707	-154.680405	168.831589	1554.043457	-161.278763	129.002350	1558.336060	-239.026489	326.000671	1571.470093	-225.057190	289.667664	1557.694946	-154.563049	170.591354	1554.117798	-160.700424	128.843399	1558.344482	-239.572617	
+9	0.066	1793099202421	326.075684	1571.553345	-224.746048	290.920258	1557.758911	-154.401978	168.629379	1554.154663	-161.136658	128.808151	1558.449341	-239.037842	325.862091	1571.545288	-224.820084	289.465027	1557.706909	-154.371414	170.392944	1554.171143	-160.613907	128.713409	1558.493042	-239.517120	
+10	0.075	1793099202429	325.906464	1571.478516	-224.475723	290.781647	1557.826782	-154.212952	168.352417	1554.026733	-161.028152	128.838989	1558.432129	-238.812729	325.740234	1571.526123	-224.560867	289.301331	1557.686279	-154.134125	170.234055	1554.123291	-160.452194	128.603882	1558.428467	-239.382370	
+11	0.083	1793099202438	325.882812	1571.511353	-224.315689	290.589874	1557.861938	-154.046921	168.193176	1554.065186	-160.930862	128.757385	1558.465210	-238.839828	325.656128	1571.550171	-224.368332	289.147339	1557.725342	-153.974823	170.086105	1554.167725	-160.409164	128.533707	1558.460449	-239.380997	
+12	0.091	1793099202446	325.692902	1571.615479	-224.107224	290.468414	1557.837646	-153.894257	167.863068	1554.095215	-160.805618	128.595169	1558.470703	-238.787857	325.470062	1571.626099	-224.167709	288.922791	1557.743408	-153.805588	169.866440	1554.157349	-160.313904	128.360306	1558.492310	-239.307755	
+13	0.100	1793099202454	325.455292	1571.607788	-223.847824	290.305908	1557.926025	-153.782730	167.887177	1554.183472	-160.722382	128.475082	1558.481201	-238.733170	325.361450	1571.640503	-224.001358	288.778137	1557.822510	-153.645233	169.724960	1554.235107	-160.210434	128.258896	1558.500488	-239.229095	
+14	0.108	1793099202463	325.261505	1571.675171	-223.596313	290.087952	1557.951416	-153.625992	167.772446	1554.165894	-160.665573	128.338928	1558.418945	-238.706726	325.215607	1571.707397	-223.789673	288.577606	1557.858643	-153.468033	169.532608	1554.198364	-160.140732	128.134995	1558.447021	-239.196182	
+15	0.116	1793099202471	325.107452	1571.674072	-223.455261	289.827271	1557.901367	-153.472351	167.730515	1554.130249	-160.518448	128.281082	1558.465576	-238.645782	325.099335	1571.708740	-223.619064	288.433533	1557.809204	-153.321945	169.390594	1554.168579	-160.041702	128.022842	1558.484497	-239.109131	
+16	0.125	1793099202479	325.156097	1571.740723	-223.248367	289.503113	1557.903931	-153.220520	167.431076	1554.150269	-160.482025	128.226776	1558.487915	-238.636292	324.991241	1571.746460	-223.326843	288.207733	1557.831909	-153.094193	169.176437	1554.187500	-160.015015	127.941650	1558.516724	-239.151138	
+17	0.133	1793099202488	325.021790	1571.755615	-223.027863	289.457581	1558.002319	-153.078735	167.220993	1554.326050	-160.432114	128.074997	1558.509399	-238.605118	324.881165	1571.751831	-223.159378	288.040894	1557.951782	-152.933899	169.013733	1554.332520	-159.938614	127.839561	1558.557251	-239.111938	
+18	0.141	1793099202496	324.925995	1571.718140	-222.892181	289.162506	1558.073120	-152.936462	167.033264	1554.296631	-160.306717	127.900230	1558.579590	-238.587448	324.713867	1571.744263	-222.994049	287.826019	1557.963623	-152.789764	168.802536	1554.369263	-159.869431	127.679558	1558.590454	-239.069565	
+19	0.150	1793099202504	324.966400	1571.759277	-222.610779	288.279510	1557.892334	-152.238190	166.845795	1554.314575	-160.295578	127.839409	1558.587280	-238.533005	324.538300	1571.699341	-222.414124	287.421417	1557.886475	-152.336975	168.419846	1554.340088	-159.799088	127.551567	1558.627563	-239.127380	
+20	0.158	1793099202513	324.806030	1571.763062	-222.427292	287.777100	1558.427979	-151.653198	166.641876	1554.301270	-160.179840	127.684456	1558.620728	-238.518417	324.333405	1571.814087	-222.028458	287.083313	1558.226196	-151.978027	168.100357	1554.554199	-159.672394	127.392395	1558.518433	-239.099869	
+21	0.166	1793099202521	324.656494	1571.770508	-222.157227	287.611267	1558.466187	-151.408493	166.519852	1554.442505	-160.159225	127.604210	1558.664795	-238.522934	324.247711	1571.810547	-221.770920	286.896393	1558.293823	-151.760605	167.922668	1554.661865	-159.615005	127.325081	1558.577637	-239.101364	
+22	0.175	1793099202529	324.518646	1571.805176	-221.930252	287.227966	1558.448975	-151.373138	166.410431	1554.420166	-160.006454	127.518623	1558.671997	-238.527023	324.090424	1571.843262	-221.581696	286.683807	1558.280762	-151.609802	167.717178	1554.633911	-159.563965	127.184250	1558.588379	-239.081390	
+23	0.183	1793099202538	324.351074	1571.839478	-221.885849	287.249207	1558.589355	-151.269379	166.307632	1554.452271	-159.994598	127.276054	1558.728516	-238.535461	323.964142	1571.910645	-221.554642	286.563751	1558.374268	-151.574356	167.597168	1554.706177	-159.519760	127.058907	1558.618652	-239.036545	
+24	0.191	1793099202546	324.112946	1571.814575	-221.792740	287.025452	1558.528198	-151.077988	166.041229	1554.504761	-159.973343	127.220917	1558.735474	-238.475784	323.792053	1571.862549	-221.397980	286.338348	1558.354248	-151.440796	167.375977	1554.727661	-159.467728	126.894142	1558.638428	-239.013351	
+25	0.200	1793099202554	324.112854	1571.871582	-221.664627	286.917114	1558.622192	-150.843155	165.973984	1554.530151	-159.895752	127.089989	1558.657471	-238.452560	323.729218	1571.909790	-221.226059	286.234436	1558.454956	-151.280594	167.279602	1554.755737	-159.385895	126.850685	1558.560913	-238.963531	
+26	0.208	1793099202563	323.954102	1572.013916	-221.415558	286.748810	1558.585571	-150.743439	165.813568	1554.658691	-159.780121	127.058929	1558.777588	-238.471191	323.627686	1572.015503	-221.011566	286.066071	1558.485718	-151.116409	167.118195	1554.815308	-159.335922	126.763458	1558.719238	-238.946426	
+27	0.216	1793099202571	323.728363	1571.793945	-221.349121	286.464691	1558.650391	-150.629578	165.676910	1554.621216	-159.749710	126.887115	1558.815674	-238.462219	323.444519	1571.858398	-220.928589	285.841095	1558.455933	-151.031372	166.893921	1554.870361	-159.298477	126.577545	1558.696533	-238.932190	
+28	0.225	1793099202579	323.792175	1572.055908	-221.196091	286.229889	1558.567749	-150.542587	165.403885	1554.669067	-159.724884	126.906097	1558.846802	-238.323593	323.352142	1572.042358	-220.733643	285.705902	1558.474365	-150.891449	166.767151	1554.830322	-159.253311	126.506836	1558.792603	-238.908737	
+29	0.233	1793099202588	323.268463	1571.721191	-221.077499	286.059052	1558.609497	-150.325119	165.188156	1554.678711	-159.710144	126.647911	1558.765259	-238.349457	323.086243	1571.771606	-220.631073	285.388428	1558.448364	-150.769592	166.450790	1554.895264	-159.186234	126.238121	1558.659424	-238.875320	
+30	0.241	1793099202596	323.442383	1571.669800	-220.912399	286.036438	1558.555420	-150.243073	165.108368	1554.632202	-159.580292	126.592171	1558.810181	-238.341934	323.109894	1571.721313	-220.475693	285.368805	1558.373047	-150.642349	166.434296	1554.873291	-159.125488	126.266365	1558.699951	-238.834152	
+31	0.250	1793099202604	323.169128	1571.592529	-220.776596	285.806610	1558.677246	-150.158203	164.915176	1554.549927	-159.608994	126.477119	1558.794312	-238.302551	322.922424	1571.708252	-220.364395	285.140381	1558.402954	-150.544998	166.211975	1554.871460	-159.100159	126.093224	1558.631348	-238.836777	
+32	0.258	1793099202613	323.173187	1571.794800	-220.706650	285.667694	1558.650757	-150.139648	164.860596	1554.529175	-159.587997	126.315437	1558.783325	-238.242554	322.824341	1571.874268	-220.307709	285.056091	1558.424438	-150.508530	166.130524	1554.803467	-159.065674	126.005966	1558.656006	-238.794937	
+33	0.266	1793099202621	323.056976	1571.529541	-220.589325	285.666199	1558.551270	-150.030640	164.729980	1554.602173	-159.528671	126.127426	1558.767822	-238.239105	322.737976	1571.611450	-220.228073	284.932800	1558.328735	-150.416901	166.004303	1554.864624	-158.998550	125.905518	1558.645874	-238.744202	
+34	0.275	1793099202629	322.844666	1571.532593	-220.521393	285.565704	1558.546753	-149.976196	164.730972	1554.567505	-159.417923	126.091255	1558.720947	-238.204483	322.644562	1571.622314	-220.171356	284.850983	1558.327393	-150.356232	165.922714	1554.824951	-158.925476	125.814369	1558.593262	-238.666931	
+35	0.283	1793099202638	322.745972	1571.645264	-220.301315	285.470917	1558.546753	-149.891739	164.664856	1554.494385	-159.343613	126.008293	1558.736084	-238.132263	322.562714	1571.743164	-220.004074	284.750641	1558.318970	-150.223679	165.828125	1554.750000	-158.844849	125.748528	1558.610229	-238.596344	
+36	0.291	1793099202646	322.916687	1571.652222	-220.334961	285.395294	1558.498413	-149.843857	164.477951	1554.507446	-159.290131	125.912529	1558.751221	-238.099136	322.521027	1571.716187	-219.969925	284.699890	1558.293091	-150.194244	165.777008	1554.758789	-158.824936	125.704567	1558.641235	-238.578964	
+37	0.300	1793099202654	322.798706	1571.643555	-220.268204	285.290588	1558.497314	-149.813934	164.401382	1554.480225	-159.071030	125.887505	1558.637817	-237.912140	322.418701	1571.699097	-219.910202	284.644928	1558.306152	-150.103088	165.718277	1554.719238	-158.659836	125.596268	1558.534302	-238.392181	
+38	0.308	1793099202663	322.687195	1571.658569	-220.361008	285.313232	1558.375488	-149.685989	164.379944	1554.460693	-159.049911	125.801231	1558.594116	-237.842621	322.353424	1571.679077	-219.926102	284.618805	1558.243164	-150.106079	165.687698	1554.653809	-158.599640	125.521690	1558.512817	-238.307709	
+39	0.316	1793099202671	322.698792	1571.615234	-220.203644	285.409119	1558.436890	-149.641586	164.280151	1554.474976	-159.040833	125.674881	1558.682983	-237.830292	322.336761	1571.669800	-219.840561	284.575439	1558.249268	-150.031998	165.645477	1554.708008	-158.561737	125.505302	1558.583130	-238.282059	
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+41	0.333	1793099202688	322.618225	1571.581055	-220.134369	285.230469	1558.483398	-149.552521	164.365921	1554.372070	-158.779327	125.610558	1558.552490	-237.576736	322.246307	1571.655884	-219.763687	284.553070	1558.263184	-149.913010	165.618179	1554.639771	-158.338684	125.407600	1558.430176	-238.027573	
+42	0.341	1793099202696	322.585175	1571.605469	-220.138184	285.335876	1558.462891	-149.454300	164.348404	1554.424683	-158.720169	125.493279	1558.572388	-237.477203	322.216370	1571.662842	-219.754623	284.560455	1558.271240	-149.883606	165.620316	1554.665283	-158.242767	125.365570	1558.466187	-237.908844	
+43	0.350	1793099202704	322.562469	1571.604980	-220.131180	285.185455	1558.474854	-149.492172	164.327835	1554.441284	-158.692429	125.390808	1558.720825	-237.396561	322.138123	1571.680420	-219.759995	284.499481	1558.249756	-149.887146	165.554657	1554.711792	-158.208130	125.274300	1558.599976	-237.857071	
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+45	0.366	1793099202721	322.431305	1571.695068	-220.187225	285.256958	1558.504150	-149.414307	164.320541	1554.506104	-158.469894	125.418320	1558.615601	-237.166580	322.086365	1571.734985	-219.772278	284.542755	1558.341431	-149.841202	165.589828	1554.724487	-158.011215	125.208160	1558.520020	-237.613312	
+46	0.375	1793099202729	322.488220	1571.653198	-220.085876	285.223450	1558.604126	-149.305298	164.268616	1554.538330	-158.441605	125.299965	1558.717041	-237.182922	322.068787	1571.724976	-219.673080	284.484192	1558.381836	-149.754410	165.533737	1554.814941	-157.982086	125.193520	1558.590942	-237.606125	
+47	0.383	1793099202738	322.494232	1571.581665	-220.129211	285.246002	1558.493042	-149.337814	164.265182	1554.489746	-158.368454	125.273430	1558.662354	-237.032578	322.046295	1571.639893	-219.717422	284.518829	1558.289062	-149.769516	165.560638	1554.748169	-157.896225	125.153091	1558.549683	-237.484894	
+48	0.391	1793099202746	322.366394	1571.661987	-220.123199	285.226654	1558.631470	-149.287872	164.301758	1554.518677	-158.261353	125.337814	1558.773438	-236.879013	322.015717	1571.753662	-219.694275	284.532288	1558.383545	-149.726456	165.570007	1554.820679	-157.783310	125.114594	1558.627808	-237.347397	
+49	0.400	1793099202754	322.397430	1571.638794	-220.203232	285.273285	1558.706909	-149.261673	164.281174	1554.541016	-158.195038	125.254768	1558.691406	-236.900818	321.998474	1571.728271	-219.742279	284.538879	1558.453735	-149.743500	165.574829	1554.856689	-157.758865	125.094475	1558.539429	-237.316116	
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+1223	10.183	1793099212534	272.659729	1572.330200	-77.861908	234.454910	1560.618530	-8.011007	113.791168	1562.336304	-17.261660	75.653885	1567.286743	-97.019386	272.482758	1572.226440	-77.705505	233.813370	1560.765259	-8.044995	114.887573	1562.207642	-17.221304	75.375999	1567.372437	-97.182159	
+1224	10.191	1793099212542	272.574402	1573.404785	-78.061363	234.429840	1561.945435	-8.057091	113.605484	1563.650513	-17.227015	75.338028	1568.253296	-97.082245	272.306702	1573.286987	-77.881645	233.695084	1562.112061	-8.142653	114.761719	1563.511230	-17.227184	75.184265	1568.343872	-97.176224	
+1225	10.200	1793099212550	272.383209	1574.509155	-78.178627	234.247299	1563.291138	-8.178316	113.620865	1564.988892	-17.172764	75.181763	1569.355347	-96.805695	272.133514	1574.400146	-78.040871	233.634705	1563.446167	-8.204529	114.686806	1564.848633	-17.096195	74.978119	1569.449707	-96.993805	
+1226	10.208	1793099212559	272.154236	1575.514404	-78.243233	235.178207	1564.973389	-8.710267	113.403793	1566.118896	-17.105740	75.006805	1570.148926	-96.786278	272.125366	1575.541870	-78.470146	233.831390	1564.948608	-8.465735	114.858009	1566.105591	-17.046293	74.928276	1570.159424	-96.863342	
+1227	10.216	1793099212567	271.844940	1576.663452	-78.553474	234.936432	1566.217407	-8.779490	113.119911	1567.301636	-17.057425	74.609482	1571.070801	-96.633385	271.761261	1576.667603	-78.708435	233.601898	1566.222412	-8.608323	114.612358	1567.270142	-16.976236	74.535263	1571.093384	-96.730774	
+1228	10.225	1793099212575	271.605713	1577.594849	-78.654594	234.843506	1567.411865	-8.943960	113.020966	1568.373779	-16.924669	74.394997	1571.786865	-96.508293	271.553619	1577.604126	-78.878624	233.504028	1567.412109	-8.681643	114.501701	1568.338745	-16.880253	74.305809	1571.812500	-96.590988	
+1229	10.233	1793099212584	271.472046	1578.642334	-78.868805	234.731125	1568.626465	-9.026137	112.789474	1569.390259	-16.992386	74.148811	1572.458130	-96.395012	271.333496	1578.641724	-79.064209	233.371643	1568.633545	-8.793335	114.359680	1569.351562	-16.872089	74.076614	1572.490234	-96.552711	
+1230	10.241	1793099212592	271.027130	1579.515625	-79.086777	234.433380	1569.523926	-9.146483	112.730415	1570.271851	-16.931902	73.839523	1573.133423	-96.224640	270.997589	1579.495239	-79.283958	233.173798	1569.569214	-8.927030	114.146484	1570.195190	-16.784451	73.712570	1573.184937	-96.394363	
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+1232	10.258	1793099212609	270.417969	1580.979492	-79.556847	234.198151	1571.379639	-9.440435	112.290909	1571.892700	-16.774971	73.274429	1574.057861	-95.968536	270.422119	1580.941162	-79.756821	232.861038	1571.453247	-9.199001	113.806313	1571.791138	-16.648060	73.091972	1574.124146	-96.136909	
+1233	10.266	1793099212617	270.191162	1581.536621	-79.690529	233.641907	1572.674194	-9.131489	112.168938	1572.396606	-16.656916	72.883247	1574.434082	-95.832497	270.078827	1581.638916	-79.710434	232.552399	1572.498413	-9.088331	113.495529	1572.561646	-16.510571	72.758499	1574.342529	-96.002090	
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+1971	16.416	1793099218764	298.241089	1584.498169	-71.877213	256.459625	1583.474243	-3.152569	136.631790	1586.475220	-18.599228	102.276466	1581.138550	-99.942139	298.070312	1584.427856	-71.761749	255.900009	1583.613647	-3.203269	137.617264	1586.349121	-18.413115	102.021385	1581.195557	-100.193016	
+1972	16.425	1793099218773	297.122528	1585.302246	-71.532173	255.338654	1584.476929	-2.840049	135.437241	1587.108398	-18.646257	101.184128	1581.522705	-100.099770	296.990753	1585.258301	-71.422279	254.665192	1584.570068	-2.958154	136.412460	1587.027222	-18.446449	101.014137	1581.554810	-100.291359	
+1973	16.433	1793099218781	296.086365	1586.231567	-71.166595	254.094391	1585.332275	-2.439322	133.989426	1587.538696	-18.755638	100.325165	1581.712646	-100.184433	295.915161	1586.182251	-70.958687	253.371613	1585.436157	-2.630406	135.161514	1587.452515	-18.502945	100.047081	1581.744019	-100.453957	
+1974	16.441	1793099218789	294.980499	1586.895996	-70.528366	252.659348	1586.172363	-2.112018	132.761276	1588.092285	-18.780455	99.273308	1582.007935	-100.466660	294.800964	1586.862183	-70.388100	251.978958	1586.247314	-2.232674	133.831894	1588.030518	-18.594807	99.062622	1582.028564	-100.671913	
+1975	16.450	1793099218798	293.764465	1587.855835	-70.074364	251.087326	1587.045044	-1.831758	131.331970	1588.395874	-18.828760	98.047859	1582.000854	-100.718132	293.509613	1587.816772	-69.943710	250.460327	1587.121704	-1.932388	132.362381	1588.331543	-18.696680	97.899315	1582.027710	-100.880241	
+1976	16.458	1793099218806	292.703400	1588.557251	-69.621902	249.600464	1587.593140	-1.386497	129.879532	1588.748779	-19.118773	96.995338	1582.161987	-100.989647	292.340271	1588.483032	-69.413544	248.989166	1587.721191	-1.594931	130.964813	1588.642578	-18.887470	96.884483	1582.214478	-101.220871	
+1977	16.466	1793099218814	291.239441	1589.022949	-69.126678	248.091385	1588.264282	-1.094457	128.377426	1589.117798	-19.071503	95.803772	1582.242310	-101.075386	290.980682	1588.968262	-68.953362	247.441833	1588.363525	-1.253533	129.464844	1589.036865	-18.877583	95.624657	1582.278442	-101.283546	
+1978	16.475	1793099218823	289.721436	1589.579956	-68.515274	246.261871	1588.862061	-0.771258	126.759735	1589.431641	-19.149664	94.504532	1582.185303	-101.365189	289.502289	1589.507568	-68.379448	245.669342	1588.990112	-0.868947	127.769279	1589.320435	-19.009954	94.306656	1582.240723	-101.543030	
+1979	16.483	1793099218831	288.588867	1589.986450	-68.083733	244.867188	1589.322632	-0.303806	125.227196	1589.626831	-19.401152	93.415230	1582.372559	-101.689476	288.302612	1589.941528	-67.862694	244.176422	1589.401367	-0.543669	126.356247	1589.566284	-19.198685	93.263191	1582.399414	-101.873123	
+1980	16.491	1793099218839	287.112823	1590.509155	-67.416306	243.077850	1589.869995	-0.091613	123.680206	1589.909546	-19.493710	92.002472	1582.276245	-101.887917	286.819031	1590.436768	-67.336754	242.435852	1589.986084	-0.186225	124.688179	1589.814209	-19.293499	91.930321	1582.327881	-102.073067	
+1981	16.500	1793099218848	285.811859	1590.648682	-66.791664	241.330002	1590.251221	0.355393	121.752251	1589.993774	-19.705835	90.757324	1582.297729	-102.261681	285.371124	1590.626465	-66.666992	240.618973	1590.282959	0.238830	122.978531	1589.982910	-19.516365	90.682816	1582.299072	-102.459259	
+1982	16.508	1793099218856	284.187836	1590.780273	-66.272881	239.484055	1590.456543	0.562183	120.195259	1590.094604	-19.974363	89.526657	1582.155273	-102.525703	283.886353	1590.745361	-66.199722	238.852341	1590.514160	0.517189	121.296700	1590.064331	-19.733736	89.358391	1582.162842	-102.794502	
+1983	16.516	1793099218864	282.579468	1590.873779	-65.853004	237.663330	1590.594360	0.873047	118.515526	1590.144653	-20.246737	88.073425	1581.947266	-102.948410	282.324188	1590.818115	-65.767723	237.006821	1590.682617	0.757300	119.538910	1590.081055	-19.992651	87.961792	1581.978271	-103.172028	
+1984	16.525	1793099218873	281.116943	1590.761108	-65.297325	235.806793	1590.631592	1.147733	116.748001	1590.150879	-20.391748	86.844849	1581.828613	-103.201225	280.829071	1590.713867	-65.211861	235.213272	1590.712402	1.109037	117.839622	1590.098267	-20.167288	86.634621	1581.847534	-103.472458	
+1985	16.533	1793099218881	279.502350	1590.708496	-64.841576	233.974564	1590.513184	1.484557	115.035507	1589.979858	-20.651331	85.374435	1581.677368	-103.559074	279.245209	1590.657837	-64.749001	233.354736	1590.595581	1.382111	116.070717	1589.925293	-20.381187	85.216232	1581.700195	-103.819344	
+1986	16.541	1793099218889	277.911621	1590.675903	-64.394615	232.073700	1590.688599	1.887853	113.318199	1590.215820	-20.757364	84.071678	1581.641602	-103.955925	277.699646	1590.619995	-64.207832	231.506989	1590.788574	1.712366	114.323349	1590.134033	-20.585569	83.845230	1581.679199	-104.139008	
+1987	16.550	1793099218898	276.437927	1590.921875	-63.866940	230.306931	1591.031128	2.122738	111.547752	1590.503052	-20.996426	82.379280	1581.741943	-104.373451	276.092621	1590.852539	-63.779301	229.634781	1591.134888	1.953889	112.542053	1590.414062	-20.814566	82.402435	1581.796509	-104.474098	
+1988	16.558	1793099218906	274.731476	1591.287354	-63.604740	228.459641	1591.626831	2.233228	109.620895	1591.082642	-21.361197	81.092735	1582.032593	-104.674202	274.465515	1591.215942	-63.476814	227.758347	1591.746704	2.077905	110.752724	1590.985107	-21.132761	80.928169	1582.081665	-104.875244	
+1989	16.566	1793099218914	273.101685	1591.602173	-63.157776	226.410629	1592.261475	2.491748	107.899719	1591.685791	-21.577839	79.676071	1582.485840	-104.907120	272.830902	1591.558472	-63.005573	225.856308	1592.341187	2.355251	108.945946	1591.632690	-21.332241	79.454948	1582.502930	-105.168427	
+1990	16.575	1793099218923	271.466064	1592.275391	-62.742336	224.384277	1593.080078	2.580851	106.074760	1592.450439	-21.993284	78.008186	1582.843140	-105.369072	271.110779	1592.195190	-62.667740	223.852463	1593.207886	2.485079	107.046387	1592.355591	-21.706751	77.923683	1582.890381	-105.634430	
+1991	16.583	1793099218931	269.729889	1592.564941	-62.327934	222.637939	1593.911011	2.794864	104.277786	1593.022217	-22.229523	76.594673	1583.160522	-105.793549	269.502838	1592.553955	-62.269840	221.977783	1593.928711	2.682003	105.271614	1593.025757	-21.985462	76.488045	1583.150269	-105.982841	
+1992	16.591	1793099218939	268.022949	1592.919189	-61.966591	220.548523	1594.432617	2.900208	102.422882	1593.585815	-22.511326	75.095360	1583.265869	-106.225792	267.780121	1592.869263	-61.907112	219.978210	1594.519165	2.834822	103.378380	1593.520386	-22.326891	74.953003	1583.294800	-106.404320	
+1993	16.600	1793099218948	266.336945	1593.156982	-61.745106	218.602005	1594.973267	3.031161	100.563782	1594.014404	-22.947611	73.542969	1583.335571	-106.601288	266.074402	1593.108276	-61.652451	218.031784	1595.055908	2.902767	101.526398	1593.958374	-22.688629	73.413094	1583.357788	-106.824524	
+1994	16.608	1793099218956	264.587982	1593.369629	-61.267105	216.602951	1595.333252	3.190326	98.646141	1594.013428	-23.352879	72.075989	1583.086304	-107.014862	264.356628	1593.336304	-61.217434	216.001297	1595.387817	3.100651	99.622276	1593.992920	-23.045275	71.932861	1583.085571	-107.282463	
+1995	16.616	1793099218964	262.975159	1593.247559	-60.936039	214.749817	1595.428955	3.420682	96.779907	1593.881104	-23.714380	70.395271	1582.582520	-107.375671	262.652802	1593.207031	-60.892971	214.059509	1595.478516	3.238114	97.778717	1593.867432	-23.328989	70.409134	1582.587158	-107.621567	
+1996	16.625	1793099218973	261.232819	1592.854126	-60.554684	212.829590	1595.211426	3.525803	94.989471	1593.468628	-24.114630	68.477562	1582.310181	-107.909706	260.859741	1592.862061	-60.636562	212.034164	1595.152466	3.317173	95.850380	1593.559082	-23.672043	68.785156	1582.270874	-108.061783	
+1997	16.633	1793099218981	259.603027	1592.320923	-60.081348	210.869232	1594.795288	3.785747	93.505646	1592.786865	-24.337757	67.006523	1581.208496	-108.102982	259.268494	1592.305420	-60.192062	210.203995	1594.764282	3.572277	94.123283	1592.857178	-23.836861	67.388649	1581.184814	-108.279694	
+1998	16.641	1793099218989	257.947479	1591.797607	-59.612461	209.070297	1594.260498	4.087250	91.794060	1592.445679	-24.846279	65.789406	1580.103516	-108.341858	257.734283	1591.653687	-59.700401	208.357224	1594.439941	3.808695	92.412880	1592.330444	-24.157152	66.096832	1580.183350	-108.664490	
+1999	16.650	1793099218998	256.243225	1591.236694	-59.039139	207.290543	1593.318115	4.459115	90.301003	1591.497803	-24.948204	64.361908	1578.949707	-108.713623	256.177521	1591.014038	-59.171329	206.538498	1593.616943	4.141038	90.713196	1591.250244	-24.293600	64.767479	1579.121094	-108.917953	
+2000	16.658	1793099219006	254.937515	1590.524780	-58.493515	205.576447	1592.734009	4.669861	88.661087	1590.485718	-25.274906	63.147999	1577.833618	-108.789467	254.752121	1590.328613	-58.682076	204.855423	1592.978882	4.425451	89.149544	1590.321411	-24.466015	63.565952	1577.949097	-109.165382	
+2001	16.666	1793099219014	253.802719	1589.836914	-58.050270	204.140396	1591.925781	5.031378	87.310814	1589.594482	-25.131048	62.122974	1576.752563	-109.004768	253.547394	1589.615479	-58.185333	203.451614	1592.216309	4.766330	87.839973	1589.364502	-24.481657	62.537930	1576.913574	-109.254051	
+2002	16.675	1793099219023	252.564713	1589.066528	-57.591854	202.520218	1591.257446	5.385653	85.943970	1588.829956	-25.358604	61.051666	1576.089355	-109.127968	252.266663	1588.877075	-57.681084	201.930969	1591.496582	5.078128	86.431488	1588.663696	-24.611494	61.451427	1576.205933	-109.478317	
+2003	16.683	1793099219031	251.258835	1588.360474	-56.955189	201.208420	1590.700562	5.607563	84.666817	1588.361206	-25.329561	60.036636	1575.337036	-109.374763	251.080734	1588.149048	-57.155334	200.517914	1590.974487	5.412085	85.125618	1588.150391	-24.692274	60.446438	1575.485352	-109.616432	
+2004	16.691	1793099219039	250.239334	1587.782227	-56.486626	199.799973	1590.163940	6.078330	83.624390	1587.722900	-25.521553	59.311699	1574.804443	-109.392746	250.071701	1587.598511	-56.580246	199.267685	1590.401489	5.792492	83.992744	1587.562622	-24.756798	59.643269	1574.910767	-109.778038	
+2005	16.700	1793099219048	249.132782	1587.254517	-55.961666	198.502106	1589.723145	6.422065	82.433510	1587.443115	-25.587418	58.304234	1574.329834	-109.708115	248.962189	1587.043945	-56.071075	197.922150	1589.997192	6.101720	82.762352	1587.233276	-24.885614	58.725941	1574.476074	-109.980164	
+2006	16.708	1793099219056	248.178406	1586.692871	-55.219692	197.361603	1589.244141	6.839135	81.228119	1587.031982	-25.702951	57.406075	1573.942749	-109.858704	247.955811	1586.481201	-55.415745	196.655060	1589.504272	6.538733	81.625290	1586.843506	-24.936665	57.938038	1574.082764	-110.128540	
+2007	16.716	1793099219064	247.235504	1586.139404	-54.667225	195.973892	1589.229248	6.768959	80.455063	1586.649414	-25.814749	56.750141	1573.655884	-110.075996	247.052872	1586.045776	-54.999596	195.521912	1589.303101	6.751619	80.609062	1586.658691	-25.149424	57.230747	1573.666260	-110.391609	
+2008	16.725	1793099219073	246.531097	1585.692017	-54.196106	194.887924	1589.021851	7.139794	79.373863	1586.386475	-25.801157	56.217957	1573.453003	-110.192345	246.236237	1585.652344	-54.446922	194.485046	1589.021118	7.113851	79.685982	1586.464600	-25.201317	56.603569	1573.415405	-110.515427	
+2009	16.733	1793099219081	245.668167	1585.344116	-53.563385	193.829254	1588.611206	7.495962	78.614433	1586.214600	-25.924971	55.522766	1573.200928	-110.492416	245.429840	1585.260254	-53.874493	193.422256	1588.671387	7.467490	78.758362	1586.228271	-25.332697	56.024158	1573.210815	-110.745110	
+2010	16.741	1793099219089	244.939835	1585.304199	-53.055676	192.863586	1588.477051	7.931330	77.751930	1586.138184	-26.089523	55.089188	1573.068359	-110.688599	244.715393	1585.196777	-53.301392	192.450470	1588.580200	7.823014	77.925621	1586.109131	-25.457355	55.553062	1573.101685	-110.966736	
+2011	16.750	1793099219098	244.212494	1585.243042	-52.564728	191.938141	1588.449829	8.343042	77.015160	1586.317627	-26.070967	54.429504	1573.248413	-110.733170	243.977081	1585.120239	-52.798763	191.547531	1588.572998	8.180617	77.112114	1586.267212	-25.417721	54.958561	1573.298462	-110.989960	
+2012	16.758	1793099219106	243.476654	1585.237793	-52.055462	191.063385	1588.698975	8.666835	75.675507	1585.832520	-25.789299	54.014866	1573.427124	-110.937355	243.155548	1585.325684	-52.241249	190.526016	1588.500488	8.580763	76.202576	1586.067871	-25.387806	54.346268	1573.302368	-111.066986	
+2013	16.766	1793099219114	242.834869	1585.505859	-51.534630	190.282059	1589.036011	8.904831	74.875595	1586.271973	-25.922068	53.678364	1573.566162	-111.108330	242.543198	1585.554688	-51.746082	189.685516	1588.906006	8.868249	75.490219	1586.443848	-25.526550	53.951954	1573.475586	-111.255814	
+2014	16.775	1793099219123	242.591263	1586.190918	-50.897648	189.510025	1589.539307	9.313991	74.313416	1586.680664	-26.207491	53.259377	1574.103271	-111.310173	242.070312	1586.222046	-51.158470	188.945328	1589.411499	9.230492	74.903854	1586.867798	-25.665117	53.754585	1574.012939	-111.508217	
+2015	16.783	1793099219131	242.040573	1586.871094	-50.406246	188.925278	1590.148071	9.518483	73.737419	1587.478882	-26.158319	53.038269	1574.762817	-111.365799	241.604874	1586.860962	-50.712421	188.319260	1590.097046	9.532362	74.370834	1587.590698	-25.668560	53.446548	1574.712280	-111.563263	
+2016	16.791	1793099219139	241.526352	1587.402100	-50.070511	188.201294	1590.994263	9.806978	73.338432	1588.130493	-26.282701	52.905525	1575.536743	-111.609604	241.184814	1587.478271	-50.290268	187.689713	1590.814087	9.763116	73.864166	1588.359253	-25.836735	53.232906	1575.411987	-111.791946	
+2017	16.800	1793099219148	241.236053	1588.204468	-49.656456	187.628738	1591.818726	10.101085	72.579254	1589.048096	-26.411032	52.650360	1576.232544	-111.850388	240.735779	1588.247070	-49.848423	187.030533	1591.691895	10.010941	73.330315	1589.218628	-25.985924	52.997803	1576.146362	-111.993378	
+2018	16.808	1793099219156	240.833145	1589.087891	-49.265846	187.035889	1592.752441	10.292868	72.254646	1590.033447	-26.643118	52.363247	1577.091064	-112.222168	240.353149	1589.112427	-49.494633	186.438293	1592.642822	10.170998	72.864876	1590.181396	-26.224760	52.830608	1577.028320	-112.289871	
+2019	16.816	1793099219164	240.370926	1589.910400	-48.817692	186.453705	1593.637817	10.623158	71.787720	1590.935913	-26.811842	52.395542	1578.032227	-112.286751	240.002090	1589.951294	-48.982456	185.869720	1593.517456	10.483768	72.429855	1591.103149	-26.329235	52.706219	1577.944458	-112.465202	
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+2021	16.833	1793099219181	239.830139	1591.806030	-48.055115	185.477493	1595.647705	10.970918	71.031723	1592.893677	-27.278248	52.369286	1579.869019	-112.679146	239.457397	1591.848389	-48.216461	184.916321	1595.531494	10.867964	71.732925	1593.072876	-26.723318	52.602001	1579.763672	-112.969772	
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+2023	16.850	1793099219198	239.558197	1593.431396	-47.306557	185.023087	1597.465942	11.345585	70.622902	1594.791748	-27.433395	52.563103	1581.667725	-113.265373	239.247009	1593.491333	-47.486679	184.344376	1597.325073	11.252289	71.393860	1594.968628	-27.039469	52.782028	1581.571899	-113.385880	
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+3313	27.600	1793099229943	258.494141	1580.542969	64.993500	223.069092	1571.101074	136.214554	101.475128	1573.635498	131.308228	60.689522	1577.387817	53.155720	258.248199	1580.548340	65.019905	222.062164	1571.098511	136.297775	102.899231	1573.624756	131.455704	60.518311	1577.395874	52.898624	
+3314	27.608	1793099229952	258.037109	1580.673950	64.492035	223.023300	1571.198608	135.838882	101.492424	1573.793091	131.146957	60.328655	1577.446777	52.967812	257.965729	1580.659790	64.494553	221.939835	1571.239868	135.857452	102.766022	1573.744019	131.279099	60.209904	1577.468750	52.814579	
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+3510	29.241	1793099231584	244.329453	1576.288818	-7.973456	206.599625	1570.023315	62.206612	85.225426	1571.154541	53.149944	47.015186	1570.647827	-26.353725	244.078781	1576.293945	-8.057233	205.564651	1570.016235	62.345295	86.619179	1571.155762	53.383999	46.907074	1570.648682	-26.642683	
+3511	29.250	1793099231593	244.889465	1576.759766	-7.930520	207.227661	1570.257080	62.122032	86.023476	1571.379517	53.120972	47.732601	1570.873047	-26.431740	244.753906	1576.736938	-8.073342	206.236786	1570.301147	62.313274	87.291397	1571.325073	53.336937	47.591118	1570.906128	-26.696123	
+3512	29.258	1793099231601	245.415756	1576.979614	-8.021729	207.762009	1570.505981	62.089912	86.466827	1571.735229	52.949726	48.273159	1571.378418	-26.637569	245.289581	1576.971069	-8.128288	206.716782	1570.528198	62.227184	87.778862	1571.704346	53.170872	48.132530	1571.395508	-26.889425	
+3513	29.266	1793099231609	246.042725	1577.275024	-8.074417	208.332977	1570.860474	62.158306	86.947968	1572.273926	52.942181	48.708324	1571.985718	-26.740681	245.831284	1577.264404	-8.129613	207.232300	1570.883179	62.217106	88.298447	1572.247314	53.133621	48.669960	1572.000366	-26.935724	
+3514	29.275	1793099231618	246.558594	1577.850098	-8.077765	208.808029	1571.442627	62.023056	87.442284	1572.841675	52.805389	49.275089	1572.645508	-26.643328	246.340530	1577.856201	-8.187871	207.751816	1571.438965	62.161205	88.816772	1572.835815	53.098442	49.174881	1572.648926	-26.964426	
+3515	29.283	1793099231626	247.030884	1578.391602	-8.140424	209.311523	1571.881226	62.026825	88.109642	1573.525879	53.017517	49.775990	1573.531860	-26.764877	246.871078	1578.389282	-8.214194	208.302170	1571.894775	62.138664	89.365677	1573.504395	53.130238	49.689106	1573.542114	-26.915665	
+3516	29.291	1793099231634	247.280869	1578.867676	-8.229574	209.642624	1572.551147	61.995373	88.429565	1574.281860	52.959843	50.055809	1574.221558	-26.762987	247.160919	1578.877075	-8.299508	208.609314	1572.548584	62.077965	89.671570	1574.276733	53.108120	49.967072	1574.219849	-26.923920	
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+3518	29.308	1793099231651	248.044434	1580.321289	-8.410316	210.392303	1573.677124	61.933132	89.180099	1575.501343	52.876205	50.674137	1575.907349	-26.703619	247.857635	1580.335693	-8.436736	209.367203	1573.662842	61.942390	90.422318	1575.511108	53.092056	50.643814	1575.897461	-26.902315	
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+3523	29.350	1793099231693	248.524155	1584.146118	-8.709826	211.283447	1577.020996	61.731804	89.837418	1578.467651	52.813698	51.406548	1579.642090	-26.588821	248.484680	1584.231323	-8.703692	210.143875	1576.895264	61.691097	91.178696	1578.586182	53.085533	51.244308	1579.564209	-26.826082	
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+3698	30.808	1793099233150	238.014282	1580.750977	-9.101328	207.438126	1576.366089	65.527245	86.805435	1583.289917	69.505936	39.681614	1584.711426	-5.589286	237.675705	1580.770020	-8.818103	206.834656	1576.375366	65.403053	87.816566	1583.281250	69.481865	39.612537	1584.691772	-5.724247	
+3699	30.816	1793099233159	238.139847	1580.368774	-9.015804	207.762238	1575.944702	65.629074	86.951492	1582.860840	69.394463	40.271534	1584.443604	-5.554922	238.004211	1580.402710	-8.712415	207.099442	1575.925537	65.477295	88.081123	1582.879883	69.466103	39.940334	1584.409790	-5.778172	
+3700	30.825	1793099233167	238.485596	1580.132812	-8.920154	208.089218	1575.605469	65.736221	87.073807	1582.473022	69.359268	40.648415	1584.124756	-5.753796	238.357101	1580.166626	-8.574764	207.339905	1575.589722	65.561920	88.312737	1582.490479	69.375458	40.287304	1584.089233	-5.941073	
+3701	30.833	1793099233175	239.121323	1579.877319	-8.761547	208.297546	1575.123657	65.847145	87.474167	1582.098511	69.366447	40.945644	1583.903198	-5.873964	238.799759	1579.889893	-8.395642	207.670425	1575.141235	65.683220	88.640602	1582.082520	69.337051	40.727905	1583.889038	-6.046552	
+3702	30.841	1793099233184	239.368042	1579.480347	-8.792556	208.608337	1574.872803	65.794937	87.954819	1581.682861	69.272842	41.234566	1583.670044	-5.995229	239.133362	1579.549683	-8.465494	207.999130	1574.793823	65.610855	88.970871	1581.764404	69.260139	41.062405	1583.598145	-6.125499	
+3703	30.850	1793099233192	239.743073	1579.235718	-8.640529	208.899872	1574.418091	65.833450	88.233109	1581.374268	69.025810	41.788040	1583.358887	-6.261725	239.593628	1579.261475	-8.335058	208.293671	1574.407837	65.665054	89.258377	1581.387329	69.058372	41.518417	1583.330200	-6.431361	
+3704	30.858	1793099233200	240.384537	1578.989868	-8.586531	209.397003	1574.089722	65.750298	88.508690	1581.021240	68.897141	42.200691	1582.986938	-6.383868	240.087372	1579.010498	-8.313787	208.718842	1574.097778	65.653397	89.676514	1581.010010	68.935997	42.008202	1582.969360	-6.598569	
+3705	30.866	1793099233209	240.771255	1578.832031	-8.362432	209.685150	1573.759277	65.769989	88.844009	1580.546753	68.727211	42.593731	1582.484009	-6.712492	240.524033	1578.837769	-8.164355	208.997391	1573.790894	65.726524	89.937218	1580.511475	68.749634	42.435505	1582.482056	-6.889526	
+3706	30.875	1793099233217	241.389816	1578.342285	-8.333631	209.973175	1573.377075	65.850098	89.200752	1580.079712	68.657738	43.062416	1582.041504	-6.850993	241.006180	1578.372803	-8.065988	209.383926	1573.364868	65.786682	90.319908	1580.086304	68.652077	42.916153	1582.016479	-7.049556	
+3707	30.883	1793099233225	241.722137	1578.051147	-8.232409	210.384491	1572.961304	65.855270	89.612068	1579.673950	68.526276	43.517178	1581.604004	-7.250576	241.475708	1578.057617	-8.003420	209.725113	1572.988525	65.789993	90.652718	1579.646484	68.448212	43.382320	1581.597778	-7.336220	
+3708	30.891	1793099233234	242.194595	1577.591553	-8.158239	210.766068	1572.615356	65.910652	89.934929	1579.246338	68.237198	44.112507	1581.041260	-7.523839	241.996780	1577.602539	-7.914248	210.096146	1572.633789	65.821259	91.014725	1579.227783	68.222008	43.900448	1581.030396	-7.663252	
+3709	30.900	1793099233242	242.773743	1577.489502	-7.931103	211.101212	1572.421997	66.006569	90.157623	1578.717407	68.009544	44.602474	1580.462280	-7.683149	242.492065	1577.512817	-7.703974	210.429123	1572.420410	65.952652	91.326164	1578.714355	68.074516	44.387714	1580.443726	-7.921337	
+3710	30.908	1793099233250	243.281891	1577.353027	-7.635674	211.527618	1572.262939	66.162643	90.450096	1578.372314	67.825317	45.208969	1580.075195	-8.064806	243.067673	1577.384888	-7.430531	210.778580	1572.248779	66.124199	91.661110	1578.381714	67.868950	44.961220	1580.048096	-8.275136	
+3711	30.916	1793099233259	243.571243	1577.477173	-7.344200	211.867111	1572.253662	66.257553	90.779709	1578.269165	67.681221	45.637428	1579.837036	-8.331074	243.495041	1577.481689	-7.225953	211.051926	1572.285645	66.256752	91.921494	1578.233032	67.739670	45.387039	1579.836792	-8.506970	
+3712	30.925	1793099233267	244.229568	1577.614624	-7.130073	212.136505	1572.338867	66.384308	91.033745	1578.191895	67.562996	46.080372	1579.456421	-8.678861	244.003586	1577.585693	-6.987634	211.364380	1572.423950	66.410606	92.217056	1578.102905	67.547813	45.895172	1579.489014	-8.832420	
+3713	30.933	1793099233275	244.747772	1577.505737	-6.920234	212.361069	1572.386597	66.426353	91.447716	1577.989624	67.214569	46.685959	1578.991821	-9.103319	244.558197	1577.484741	-6.816269	211.695679	1572.453125	66.491318	92.535156	1577.916260	67.236160	46.453484	1579.019531	-9.293836	
+3714	30.941	1793099233284	245.308838	1577.314575	-6.547553	212.752991	1572.187622	66.763000	91.638718	1577.535645	67.053543	47.260597	1578.257446	-9.322567	245.106613	1577.277222	-6.414032	212.011246	1572.281494	66.791176	92.835258	1577.438965	67.127525	47.008041	1578.297729	-9.558243	
+3715	30.950	1793099233292	245.850616	1577.101685	-6.208630	213.143143	1571.814209	66.872902	91.989487	1576.796265	66.932899	47.617615	1577.419800	-9.706773	245.614319	1577.062866	-6.155598	212.327713	1571.911865	66.952072	93.135612	1576.694336	66.954315	47.523216	1577.462891	-9.860379	
+3716	30.958	1793099233300	246.321060	1576.459839	-6.051187	213.463486	1570.995728	67.081566	92.271347	1575.763672	66.725594	48.283638	1576.423950	-9.999028	246.145905	1576.416260	-5.917926	212.664047	1571.095825	67.088379	93.464005	1575.664551	66.763733	48.065556	1576.466553	-10.177252	
+3717	30.966	1793099233309	246.753555	1575.554688	-5.719882	213.801193	1570.002319	67.272987	92.642815	1574.482422	66.660583	48.743816	1575.098267	-10.222699	246.627274	1575.518555	-5.628291	212.982376	1570.089478	67.295013	93.773659	1574.395508	66.686745	48.558067	1575.134155	-10.362477	
+3718	30.975	1793099233317	247.595459	1574.717896	-5.422833	214.222366	1569.035767	67.463966	93.028183	1573.238159	66.647964	49.436432	1573.727051	-10.446070	247.306259	1574.669189	-5.294038	213.470291	1569.137329	67.533073	94.253067	1573.136597	66.590042	49.252823	1573.775757	-10.586041	
+3719	30.983	1793099233325	248.104675	1573.676147	-5.153885	214.766556	1567.998047	67.776344	93.348328	1572.175171	66.475327	49.990009	1572.630615	-10.478094	247.857941	1573.625732	-5.005326	213.875946	1568.105713	67.754662	94.659782	1572.072021	66.568832	49.815887	1572.676514	-10.698480	
+3720	30.991	1793099233334	248.661819	1572.781738	-4.777459	215.115341	1566.927856	67.945839	93.791283	1571.093262	66.324127	50.477657	1571.604736	-10.670597	248.405945	1572.716675	-4.700347	214.237534	1567.059814	67.961761	95.022697	1570.962769	66.471672	50.379940	1571.668335	-10.911172	
+3721	31.000	1793099233342	249.270081	1571.880737	-4.418596	215.597336	1565.964966	68.049210	94.306915	1570.186157	66.395081	51.140614	1570.838135	-10.910090	249.050171	1571.824463	-4.410833	214.717972	1566.085693	68.167603	95.508987	1570.059937	66.419540	51.037819	1570.899780	-11.060703	
+3722	31.008	1793099233350	249.851837	1570.944092	-4.201603	216.169189	1565.124756	68.329163	94.795090	1569.429443	66.338623	51.787956	1570.067749	-10.916333	249.674835	1570.891479	-4.160553	215.230148	1565.241577	68.371544	96.027176	1569.311035	66.442909	51.671902	1570.121826	-11.104048	
+3723	31.016	1793099233359	250.437393	1570.105347	-3.821511	216.640900	1564.176514	68.483833	95.125633	1568.567749	66.329185	52.550713	1569.460571	-10.978295	250.292038	1570.067749	-3.818891	215.675995	1564.272339	68.620079	96.481735	1568.462402	66.428978	52.304863	1569.507690	-11.216948	
+3724	31.025	1793099233367	251.201141	1569.168213	-3.681659	217.116867	1563.178101	68.697105	95.767418	1567.808838	66.422729	52.952766	1568.865967	-11.023720	250.893829	1569.119751	-3.637382	216.208588	1563.289551	68.765701	97.023712	1567.692871	66.483246	52.912067	1568.918701	-11.197108	
+3725	31.033	1793099233375	251.686508	1568.018677	-3.504859	217.684631	1562.206055	68.837608	96.275093	1567.050415	66.493080	53.822224	1568.270142	-10.911045	251.528076	1568.000000	-3.448767	216.780380	1562.271729	68.932495	97.608551	1566.975708	66.570396	53.551468	1568.297852	-11.139337	
+3726	31.041	1793099233384	252.410080	1567.309570	-3.215109	218.316330	1561.192505	69.030853	96.776260	1566.104736	66.422226	54.277153	1567.801270	-11.083275	252.172882	1567.308228	-3.191344	217.278976	1561.236328	69.091499	98.115936	1566.052124	66.521126	54.212013	1567.811401	-11.266587	
+3727	31.050	1793099233392	253.095352	1566.550171	-3.055645	218.754395	1560.222046	69.057281	97.222137	1565.349365	66.475609	54.853630	1567.235840	-11.036889	252.735580	1566.527588	-3.044863	217.782150	1560.300537	69.196014	98.626450	1565.256226	66.551910	54.781342	1567.273193	-11.262712	
+3728	31.058	1793099233400	253.237625	1565.821655	-2.952698	218.780502	1559.651123	69.008713	97.865814	1564.632080	66.723938	55.365223	1567.022095	-10.881199	253.047607	1565.898926	-2.988404	218.130737	1559.553955	69.259895	98.981247	1564.701538	66.704308	55.089558	1566.972534	-11.077048	
+3729	31.066	1793099233409	253.802414	1565.112061	-2.828701	219.121399	1558.944946	68.977928	98.170296	1564.100952	66.622238	55.786648	1566.686890	-10.938574	253.493103	1565.204468	-2.901786	218.489792	1558.825684	69.301697	99.352112	1564.182983	66.628525	55.545769	1566.631592	-11.195546	
+3730	31.075	1793099233417	254.288818	1564.441162	-2.667226	219.663101	1558.373291	69.203171	98.569298	1563.456299	66.826973	56.379646	1566.418579	-10.898935	254.020157	1564.603149	-2.682761	218.965042	1558.140991	69.488167	99.835815	1563.652344	66.752350	56.079849	1566.292847	-11.093782	
+3731	31.083	1793099233425	254.736450	1564.288574	-2.552745	220.034271	1557.853271	69.090919	99.144577	1563.105591	66.820045	56.711235	1566.256592	-10.735868	254.434952	1564.413940	-2.686678	219.415115	1557.682495	69.476761	100.285706	1563.229614	66.822716	56.490761	1566.177979	-10.990446	
+3732	31.091	1793099233434	255.054581	1564.225952	-2.531806	220.313583	1557.486572	69.121506	99.341621	1562.866699	66.859917	57.194218	1566.296021	-10.648253	254.762787	1564.333252	-2.613731	219.722733	1557.340698	69.515053	100.596992	1562.963257	66.855553	56.821495	1566.238037	-10.955503	
+3733	31.100	1793099233442	255.287338	1564.100952	-2.522320	220.607956	1557.293945	69.134003	99.706711	1562.677246	66.901459	57.459717	1566.387573	-10.555715	255.038101	1564.236084	-2.615365	220.026001	1557.102417	69.513176	100.903168	1562.817505	66.921387	57.094448	1566.303711	-10.861774	
+3734	31.108	1793099233450	255.576675	1564.128906	-2.511335	220.783646	1557.246460	69.088814	100.002899	1562.526001	67.023308	57.732262	1566.464844	-10.585660	255.295334	1564.291382	-2.600510	220.286194	1557.004883	69.514191	101.162712	1562.713623	66.937935	57.351223	1566.356445	-10.836488	
+3735	31.116	1793099233459	255.903122	1564.402344	-2.477914	221.158752	1557.237061	69.169258	100.328575	1562.489014	67.110580	57.920113	1566.741577	-10.516908	255.589432	1564.568481	-2.553070	220.601959	1556.991455	69.542206	101.476578	1562.685303	67.021591	57.642597	1566.624512	-10.725709	
+3736	31.125	1793099233467	256.086029	1564.636108	-2.420965	221.281189	1557.369751	69.137138	100.431808	1562.589600	67.094315	58.014458	1567.124390	-10.412530	255.712601	1564.832275	-2.529380	220.729263	1557.077026	69.548950	101.605850	1562.823730	67.055290	57.765781	1566.986816	-10.676908	
+3737	31.133	1793099233475	256.157379	1564.932495	-2.426953	221.453934	1557.551147	69.198669	100.540977	1562.724243	67.082306	58.212719	1567.427368	-10.363007	255.850235	1565.137573	-2.502394	220.867950	1557.242554	69.561279	101.743713	1562.976562	67.078232	57.903099	1567.278442	-10.646103	
+3738	31.141	1793099233484	256.364594	1565.537354	-2.338984	221.515259	1557.853027	69.272362	100.563904	1563.116943	67.091576	58.363628	1567.948486	-10.303766	255.979248	1565.707886	-2.384354	220.957855	1557.597168	69.636337	101.833946	1563.315796	67.102722	58.036335	1567.834961	-10.633523	
+3739	31.150	1793099233492	256.430725	1566.152222	-2.353915	221.700775	1558.513306	69.266808	100.503548	1563.684204	67.203850	58.348305	1568.500122	-10.355451	256.015625	1566.336426	-2.394492	221.012299	1558.240723	69.636673	101.885269	1563.903687	67.124298	58.070137	1568.369141	-10.605181	
+3740	31.158	1793099233500	256.260162	1566.522339	-2.388186	221.582901	1558.854004	69.368866	100.690216	1564.238647	67.166206	58.254955	1568.998047	-10.337437	255.959473	1566.671387	-2.410455	220.968643	1558.636963	69.633644	101.846405	1564.413452	67.152565	58.013721	1568.891235	-10.566306	
+3741	31.166	1793099233509	256.204041	1567.154419	-2.127570	221.366409	1559.402954	69.286163	100.573982	1564.722656	67.153229	58.342484	1569.628540	-10.316461	255.918991	1567.323975	-2.257880	220.853455	1559.150269	69.734230	101.732887	1564.910400	67.137886	57.981571	1569.524048	-10.618874	
+3742	31.175	1793099233517	256.138184	1567.866943	-2.149878	221.232040	1560.034424	69.316559	100.427574	1565.330688	67.160355	58.115326	1570.490234	-10.477705	255.792313	1568.057983	-2.243600	220.688980	1559.746948	69.714340	101.572006	1565.561035	67.073181	57.859825	1570.356323	-10.694597	
+3743	31.183	1793099233525	255.887207	1568.436768	-2.013557	220.998932	1560.695801	69.448112	100.235062	1566.166260	67.047630	57.830059	1571.130737	-10.466001	255.574585	1568.602417	-2.143743	220.419327	1560.456909	69.807777	101.308144	1566.348511	67.078636	57.649212	1571.021606	-10.726487	
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+3745	31.200	1793099233542	255.469269	1569.832275	-1.973886	220.543503	1562.115356	69.499405	99.593880	1567.468018	67.060478	57.389187	1572.527466	-10.395484	255.093506	1570.025391	-2.074704	219.922394	1561.831177	69.863541	100.810295	1567.691650	67.107620	57.169647	1572.394897	-10.705944	
+3746	31.208	1793099233550	255.147278	1570.423462	-1.962757	220.184326	1562.699097	69.598717	99.265152	1568.182373	67.139297	57.142994	1573.070557	-10.427429	254.789963	1570.576172	-2.008218	219.595428	1562.476074	69.929237	100.485207	1568.353760	67.129707	56.869164	1572.969482	-10.702898	
+3747	31.216	1793099233559	254.878906	1571.203613	-1.760691	219.800507	1563.439209	69.611488	98.771500	1568.906006	67.118095	56.808453	1573.665039	-10.453953	254.453262	1571.340454	-1.865202	219.188675	1563.245728	70.038536	100.077332	1569.037842	67.111031	56.540096	1573.589844	-10.769428	
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+3889	32.400	1793099234741	228.927536	1577.095215	24.255886	185.494293	1579.143799	92.017136	66.059074	1585.033936	73.361969	33.491306	1578.657959	-8.666922	228.676559	1577.070312	24.387817	184.834854	1579.239136	91.859764	67.089508	1584.942505	73.607758	33.371288	1578.678955	-8.887262	
+3890	32.408	1793099234750	228.576828	1577.470459	24.671444	185.272949	1579.327393	92.435539	65.725784	1585.049683	74.021172	33.241817	1578.581421	-7.963389	228.365891	1577.422852	24.801311	184.610062	1579.461548	92.333038	66.828262	1584.919067	74.241737	33.013153	1578.625366	-8.211323	
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+3892	32.425	1793099234766	228.202255	1577.855469	25.602690	184.954697	1579.628662	93.453773	65.439926	1585.163818	75.300415	32.652996	1578.644531	-6.670717	227.934143	1577.804810	25.721945	184.316376	1579.764404	93.345261	66.488243	1585.031372	75.500923	32.511105	1578.691895	-6.881971	
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new file mode 100644
index 0000000000000000000000000000000000000000..9c07961ec4ef48b56263c5515e16c95325e9952a
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_001/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "e1fc1984-659d-4dec-bb5f-01deb52eaa38",
+   "segment": "segment1",
+   "action": "D38",
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+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_001/cameras/gsi_online_calibration.json
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index 0000000000000000000000000000000000000000..f69c25ebb7641e156687f2f48984f4bf0a6818b9
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@@ -0,0 +1,253 @@
+{
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+     "right"
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+ },
+ "cameras": {
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+    "left_front",
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+    "left_eye",
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+    0.8814,
+    0.2969
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+    13.02,
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+    0.771,
+    -0.7835
+   ],
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+  },
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+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "inliers": 1212,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2197,
+    -0.1169,
+    0.0349
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    12.49,
+    5.97
+   ],
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+   "rotvec_deg": [
+    0.3395,
+    0.4152,
+    -0.6214
+   ],
+   "split_deg": 0.0559,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    0.4923,
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+   ],
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+   "usable": true
+  }
+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "dd06ce0fd72ea9c9",
+ "kind": "online_calibration",
+ "output_sha256": "1ff80ac552467b1266ccf87a77548102c6ef2b3e5b2d7e5a91198d06c5152f7b",
+ "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": {
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+  "left_eye": 32.577,
+  "left_front": 39.327,
+  "right": 31.032,
+  "right_eye": 35.203,
+  "right_front": 38.715
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   568721080000,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D38/session_001/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..256d8f06f196b6561dfdba6b12cc21c547c69db9
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aebfda54b0953a237274ea6dc3e1c2f6406f9d5ea676be0c803aa77e2c8455
+size 283601
diff --git a/actions/locomotion_posture_dynamics/D38/session_001/meta.json b/actions/locomotion_posture_dynamics/D38/session_001/meta.json
index e2790c0ce63eb81418c8b2ed1a154907fa04c52a..c11e1156551f9da2a9f0db47e9b56336acc2a53e 100644
--- a/actions/locomotion_posture_dynamics/D38/session_001/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_001/meta.json
@@ -391,8 +391,8 @@
   "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": {
@@ -533,10 +533,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.31,
+    "offset_rotvec": [
+     -0.1916,
+     -0.1387,
+     -0.0801
+    ],
+    "dev_deg": {
+     "median": 9.4,
+     "p90": 25.73
+    },
+    "samples": 1257,
+    "accepted": 1168,
+    "wrist_pos_err_mm_median": 36.4,
+    "per_camera": {
+     "head": {
+      "samples": 1257,
+      "accepted": 1168,
+      "gate_deg": 30.0,
+      "offset_deg": 14.31,
+      "tier": "primary",
+      "dev_deg_median": 9.4,
+      "wrist_pos_err_mm_median": 36.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4848,
+     "interpolated": 1019,
+     "mean_hand": 11,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.9973,
+    "observed_fraction_of_valid": 0.9981,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.77,
+     "smplx": 1.22
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 9.0
+     },
+     "registered": {
+      "median": 8.1,
+      "p90": 10.1
+     }
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+   },
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+    "offset_rotvec": [
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+     -0.1239,
+     0.1268
+    ],
+    "dev_deg": {
+     "median": 10.02,
+     "p90": 33.81
+    },
+    "samples": 1180,
+    "accepted": 1022,
+    "wrist_pos_err_mm_median": 56.9,
+    "per_camera": {
+     "head": {
+      "samples": 1180,
+      "accepted": 1022,
+      "gate_deg": 30.0,
+      "offset_deg": 11.94,
+      "tier": "primary",
+      "dev_deg_median": 10.02,
+      "wrist_pos_err_mm_median": 56.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1298,
+     "mean_hand": 355,
+     "no_body_fit": 5
+    },
+    "observed_fraction": 0.9388,
+    "observed_fraction_of_valid": 0.9396,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.35,
+     "smplx": 1.32
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.1,
+      "p90": 10.7
+     },
+     "registered": {
+      "median": 8.9,
+      "p90": 11.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:28:15.221349+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_posture_dynamics/D38/session_001",
   "family": "locomotion_posture_dynamics",
   "primitive": "D38",
   "source_session": "20260903/D38/20260903_054651_session2"
+ },
+ "task": {
+  "primitive": "D38",
+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c65ec1070ce8eaf6e472b2eb4166faa18ef51036
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88189b5e9a2e0978b06c3f57e10018f9e290699661883df1c2c5e890155e0d00
+size 1699862
diff --git a/actions/locomotion_posture_dynamics/D38/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_001/motions/smplx.npz
index 89a43f3ab94b67edb5e5136730f334403e3c4a05..1cbcc2dca75189906ca045f346cafed3a67970fe 100644
--- a/actions/locomotion_posture_dynamics/D38/session_001/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 2270209
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diff --git a/actions/locomotion_posture_dynamics/D38/session_002/annotations.json b/actions/locomotion_posture_dynamics/D38/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9658da02efa03c40d683a55d2a9956097fb184b7
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_002/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
+  {
+   "id": "9b992b13-a9c7-456d-b0aa-f90e460135de",
+   "segment": "segment1",
+   "action": "D38",
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+   "start_s": 1.784,
+   "end_s": 29.932,
+   "t_start": 1.8225,
+   "t_end": 29.9705,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "ca905d85-0997-4ad5-be4c-371f0fa419c5",
+   "segment": "segment1",
+   "action": "D38",
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+   "end_s": 52.56,
+   "t_start": 33.2425,
+   "t_end": 52.5985,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9028a20c582e3a0fc7f4c798133efe0e012fae45
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,250 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.38
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.5654,
+   "gate_fail": [],
+   "held_out_px_after": 0.67,
+   "held_out_px_before": 3.104,
+   "inliers": 1099,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4004,
+    -0.3955,
+    -0.0545
+   ],
+   "split_deg": 0.2317,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.4081,
+   "gate_fail": [],
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+   "held_out_px_before": 4.284,
+   "inliers": 2666,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     0.46,
+     -7.43,
+     7.78
+    ],
+    "position_sigma_mm": 0.557,
+    "position_split_mm": 8.406
+   },
+   "rotvec_deg": [
+    0.3812,
+    0.4942,
+    -1.2622
+   ],
+   "split_deg": 0.016,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.689,
+   "held_out_px_before": 4.889,
+   "inliers": 1934,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4202,
+    -0.0301,
+    0.8684
+   ],
+   "split_deg": 0.1101,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 2.608,
+   "inliers": 2763,
+   "position_fitted": true,
+   "position_mm": [
+    11.35,
+    -3.7,
+    0.37
+   ],
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+   "position_split_mm": 3.21,
+   "rotvec_deg": [
+    0.4858,
+    -0.6142,
+    -0.0002
+   ],
+   "split_deg": 0.0441,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.1599,
+    -1.0405
+   ],
+   "split_deg": 0.0127,
+   "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": "cb9a25ce32ef69b300750aef8f250d6bbf665a490e3bab7471f2101cb67729f0",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "221ed43da64bde7bed26278d55a745abdde0fafde53be7f73759659d7c42dcac",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "88667e39c0bd2ca8d373a9670ed7c5e868ed6a51c06242bade80d182b6e7430b",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "805539f647d29a8382d953bdc4ce3170324abc7023f53dddacfc4bd9de4e779e",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "60a72d4e847ba192",
+ "kind": "online_calibration",
+ "output_sha256": "28402040e512ed94763ba938ed2ff1a0232577bb36110a2c6775af32f705ae14",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 35.965,
+  "left_eye": 30.946,
+  "left_front": 39.166,
+  "right": 33.561,
+  "right_eye": 31.933,
+  "right_front": 37.059
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   5464934314000,
+   5465934325111,
+   5467934291777,
+   5468934314000,
+   5469934280666,
+   5470934280666,
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+   5472934302888,
+   5473934325111,
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+   5488934314000,
+   5489934302888,
+   5490934291777,
+   5491934314000,
+   5492934280666,
+   5493934291777,
+   5494934425111,
+   5495934314000,
+   5496934314000,
+   5497934302888,
+   5498934325111,
+   5499934302888,
+   5500934302888,
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+   5502934314000,
+   5503934325111,
+   5504934280666,
+   5505934447333,
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+   5508934314000,
+   5509934314000,
+   5510934336222,
+   5511934325111,
+   5512934314000,
+   5513934302888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D38/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..56cae112837a2ca8b1aed4df29fad79c8173d7ae
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1d3160bb0497a3c813da9cfa37a8ae6b2587d87b3a4cdc385a7785505a1f10c
+size 342037
diff --git a/actions/locomotion_posture_dynamics/D38/session_002/meta.json b/actions/locomotion_posture_dynamics/D38/session_002/meta.json
index 90b9e6293532008ff3d32d7ed75441028c0da723..ccb23ea18067c909adf95b95f253db6a3ed64942 100644
--- a/actions/locomotion_posture_dynamics/D38/session_002/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_002/meta.json
@@ -330,8 +330,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -523,10 +523,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.7931136318114784
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.22,
+    "offset_rotvec": [
+     -0.0047,
+     -0.2125,
+     -0.0169
+    ],
+    "dev_deg": {
+     "median": 19.58,
+     "p90": 34.49
+    },
+    "samples": 1534,
+    "accepted": 1297,
+    "wrist_pos_err_mm_median": 93.1,
+    "per_camera": {
+     "head": {
+      "samples": 1534,
+      "accepted": 1297,
+      "gate_deg": 30.0,
+      "offset_deg": 12.22,
+      "tier": "primary",
+      "dev_deg_median": 19.58,
+      "wrist_pos_err_mm_median": 93.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5362,
+     "interpolated": 1330,
+     "mean_hand": 392,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9447,
+    "observed_fraction_of_valid": 0.9447,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.99,
+     "smplx": 0.98
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 6.7
+     },
+     "registered": {
+      "median": 6.1,
+      "p90": 7.2
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.088,
+     -0.0417,
+     0.1541
+    ],
+    "dev_deg": {
+     "median": 18.94,
+     "p90": 43.56
+    },
+    "samples": 1382,
+    "accepted": 1033,
+    "wrist_pos_err_mm_median": 103.1,
+    "per_camera": {
+     "head": {
+      "samples": 1382,
+      "accepted": 1033,
+      "gate_deg": 30.0,
+      "offset_deg": 10.44,
+      "tier": "primary",
+      "dev_deg_median": 18.94,
+      "wrist_pos_err_mm_median": 103.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4312,
+     "interpolated": 2200,
+     "mean_hand": 572,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9193,
+    "observed_fraction_of_valid": 0.9193,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.95,
+     "smplx": 0.97
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.8,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:20:17.629949+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_posture_dynamics/D38/session_002",
   "family": "locomotion_posture_dynamics",
   "primitive": "D38",
   "source_session": "20260907/D38/20260907_081940_session158"
+ },
+ "task": {
+  "primitive": "D38",
+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3bb66e867e3a16652ca96b155b2673af525508e
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cce1762dfaaac40be43617277ab456009f1493df4bd85c4cb7fba6d522493de
+size 2004963
diff --git a/actions/locomotion_posture_dynamics/D38/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_002/motions/smplx.npz
index 4ce3116ca9f1ae4fa5664fc1aa5149ccfc7a91af..e9ce1c3cd922c091e106875a091c91cafecb349f 100644
--- a/actions/locomotion_posture_dynamics/D38/session_002/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d01ddf792a38015843fee03ad6e7d049e1d3df2db8d498bb830d3f75901429ec
-size 2729461
+oid sha256:5cd5bbd6a70588ac8098c23dd700ff7559fb6e76d2a3a406adf99c52dc15d2f2
+size 4978759
diff --git a/actions/locomotion_posture_dynamics/D38/session_003/annotations.json b/actions/locomotion_posture_dynamics/D38/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..01cfd9074b73cd374043761be3a3ebb662605b49
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_003/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 48.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03897102091167448
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6fe1bf9d-8773-4327-a4dc-75c104640c38",
+   "segment": "segment1",
+   "action": "D38",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 24.301,
+   "t_start": 0.039,
+   "t_end": 24.34,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "b01a4174-6cd7-4c07-88bf-ff19b9538484",
+   "segment": "segment1",
+   "action": "D38",
+   "quality": "valid",
+   "start_s": 24.537,
+   "end_s": 42.212,
+   "t_start": 24.576,
+   "t_end": 42.251,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb5f35019d42a6bc9b3bf0c926b8055e26527ae2
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,243 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.408
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2319,
+   "gate_fail": [],
+   "held_out_px_after": 0.986,
+   "held_out_px_before": 5.989,
+   "inliers": 498,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1044,
+    -0.1898,
+    0.0828
+   ],
+   "split_deg": 0.1987,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3183,
+   "gate_fail": [],
+   "held_out_px_after": 0.418,
+   "held_out_px_before": 5.175,
+   "inliers": 2184,
+   "position_fitted": true,
+   "position_mm": [
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+    -16.98,
+    3.97
+   ],
+   "position_sigma_mm": 0.311,
+   "position_split_mm": 0.965,
+   "rotvec_deg": [
+    0.3359,
+    0.4693,
+    -1.1853
+   ],
+   "split_deg": 0.0362,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2209,
+   "gate_fail": [],
+   "held_out_px_after": 0.548,
+   "held_out_px_before": 5.049,
+   "inliers": 1684,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.0386,
+    -0.3454,
+    0.5409
+   ],
+   "split_deg": 0.0292,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.8209,
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+   "held_out_px_before": 4.429,
+   "inliers": 1986,
+   "position_fitted": true,
+   "position_mm": [
+    8.55,
+    -18.47,
+    3.77
+   ],
+   "position_sigma_mm": 0.314,
+   "position_split_mm": 0.854,
+   "rotvec_deg": [
+    0.4699,
+    -0.6604,
+    0.1307
+   ],
+   "split_deg": 0.0343,
+   "usable": true
+  },
+  "right_front": {
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "dc0ef00c824b4d271a5d0cb083e07201ee91daba578108d0b2b42a70b2ee21e8",
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+  "right_front": 29.39
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+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D38/session_003/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..48a692a0e4e59042b4139e5775340a60c2bf01e0
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c70b5f4469a26734a55350d2bde4e8a19e39b19a01abd188dcfb6eb19bf6ffb0
+size 284860
diff --git a/actions/locomotion_posture_dynamics/D38/session_003/meta.json b/actions/locomotion_posture_dynamics/D38/session_003/meta.json
index 798b7b9aeb3ff251b9ab1b94d276cf372464b39f..927d7d7834892ecd8398cd63a52f8be972c3ab48 100644
--- a/actions/locomotion_posture_dynamics/D38/session_003/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_003/meta.json
@@ -330,8 +330,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4175760136675586
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     -0.1556,
+     0.045
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+     "median": 18.74,
+     "p90": 41.17
+    },
+    "samples": 1068,
+    "accepted": 850,
+    "wrist_pos_err_mm_median": 46.6,
+    "per_camera": {
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+      "accepted": 850,
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+      "offset_deg": 9.71,
+      "tier": "primary",
+      "dev_deg_median": 18.74,
+      "wrist_pos_err_mm_median": 46.6
+     }
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+     "interpolated": 2148,
+     "mean_hand": 236,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9599,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.25
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.4
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+    "accepted": 928,
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T14:39:50.032756+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": []
+ },
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   "family": "locomotion_posture_dynamics",
   "primitive": "D38",
   "source_session": "20260908/D38/20260908_122530_session166"
+ },
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_003/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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+size 1472050
diff --git a/actions/locomotion_posture_dynamics/D38/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_003/motions/smplx.npz
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+++ b/actions/locomotion_posture_dynamics/D38/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..4147e24eb456d07f5dc45003f1297085b0e92ca8
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_004/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2954eee5685eb10fdc2de68fa816232dcbfae105
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,245 @@
+{
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+  "median_px": 0.35
+ },
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+ "code_fingerprint": "711ecf5b3dd408f8",
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+ "factory_root_name": "e17c9efadb69e7b1",
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diff --git a/actions/locomotion_posture_dynamics/D38/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_004/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_004/meta.json b/actions/locomotion_posture_dynamics/D38/session_004/meta.json
index 1156ec22e004dbab8aab95e2bf2f2053a3da072d..5c203f8c639534cc0bea1d57c38157396ec03727 100644
--- a/actions/locomotion_posture_dynamics/D38/session_004/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_004/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,
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@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_004/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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+++ b/actions/locomotion_posture_dynamics/D38/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_005/annotations.json
@@ -0,0 +1,39 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "D38",
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+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..39692172c140624c571b0a29f0938a16fc756c24
--- /dev/null
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@@ -0,0 +1,244 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63783590620f477b9512ad21f38f88f4e89e56ed
--- /dev/null
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@@ -0,0 +1,3 @@
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index a24791ba9f46ac70bcf5a7c41bd68a3021c4213d..16151a502215593a2f1e3e30bbb8bdc9addd9167 100644
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@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+ },
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_005/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 1291708
diff --git a/actions/locomotion_posture_dynamics/D38/session_005/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_005/motions/smplx.npz
index fc03acc6e5c2a6caf84a9bdb3836f6a5ba2a24e3..f18af0cfcbec26d66e3ecefdedf574fdcc59604d 100644
--- a/actions/locomotion_posture_dynamics/D38/session_005/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_006/annotations.json b/actions/locomotion_posture_dynamics/D38/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..03629ae60826d28205319bdfc6919c64fffaf2e2
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_006/annotations.json
@@ -0,0 +1,39 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  }
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+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
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+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c6e21ad73680e165ef59e1ddf8dcb8d956ba61
--- /dev/null
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@@ -0,0 +1,244 @@
+{
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+  "median_px": 0.415
+ },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+    0.0113
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+   "usable": true
+  },
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+  "right_front": {
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   ],
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "da7d7127f371579d",
+ "kind": "online_calibration",
+ "output_sha256": "0def4ac6891cc8a806403593416f79c5d69f5ad6212156343fe8735a7e01d8c2",
+ "overlap": {
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+  "right_front-right_eye": 0.734
+ },
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+  "right": 39.269,
+  "right_eye": 33.509,
+  "right_front": 39.568
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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_posture_dynamics/D38/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..641b834a43621354461e3f32e2553b18e408d5eb
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 284804
diff --git a/actions/locomotion_posture_dynamics/D38/session_006/meta.json b/actions/locomotion_posture_dynamics/D38/session_006/meta.json
index 836da5c53609e259453bfba5ec79ccae5eb993eb..ef9f53dc85cdaf7073f11374b4fc129a0afa631a 100644
--- a/actions/locomotion_posture_dynamics/D38/session_006/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_006/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": {
@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0502715089547958
  },
+ "hands_registration": {
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+  "hands": {
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+    "offset_rotvec": [
+     0.0121,
+     0.0194,
+     0.0305
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+     "p90": 28.31
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+    "accepted": 1214,
+    "wrist_pos_err_mm_median": 47.3,
+    "per_camera": {
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+      "accepted": 1214,
+      "gate_deg": 30.0,
+      "offset_deg": 2.19,
+      "tier": "primary",
+      "dev_deg_median": 14.53,
+      "wrist_pos_err_mm_median": 47.3
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+     "interpolated": 776,
+     "mean_hand": 5,
+     "no_body_fit": 176
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+    "palm_axis_vs_markers_deg": {
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+    "per_camera": {
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+      "accepted": 1022,
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+      "tier": "primary",
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+    },
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+      "p90": 11.4
+     },
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+      "p90": 11.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:08:14.567893+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_posture_dynamics/D38/session_006",
   "family": "locomotion_posture_dynamics",
   "primitive": "D38",
   "source_session": "20260916/D38/20260916_050317_session73"
+ },
+ "task": {
+  "primitive": "D38",
+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6399f25e3ee104f9498c94e86643c5bc1de85c02
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9991568dd635ad0c407d0d481c2004f5e7e541fa5ba4e6bc43b51364d599ee76
+size 1672550
diff --git a/actions/locomotion_posture_dynamics/D38/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_006/motions/smplx.npz
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+++ b/actions/locomotion_posture_dynamics/D38/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_007/annotations.json b/actions/locomotion_posture_dynamics/D38/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ab265c8883db37523f7a153e36615c02bbde7c
--- /dev/null
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@@ -0,0 +1,39 @@
+{
+ "schema_version": 1,
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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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "video": "left_eye",
+   "video_t_start": 0.03861207129826649
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "D38",
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+   "t_start": 3.9476,
+   "t_end": 21.7846,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "8ed9227d-94c5-4a22-ab28-99d5520e8de5",
+   "segment": "segment1",
+   "action": "D38",
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+   "end_s": 41.384,
+   "t_start": 26.8706,
+   "t_end": 41.4226,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa91b62bd176c4bf9b3087fb58d7c39e7db38cd0
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1b5a1b442309186522f96aea284236634de0d337cedd1d1b64cdec11048258
+size 255407
diff --git a/actions/locomotion_posture_dynamics/D38/session_007/meta.json b/actions/locomotion_posture_dynamics/D38/session_007/meta.json
index bd9b5fe801c5fe4ab38aabed60e954c10f723d7a..6a75b195695a63241127d4d4c864ef32c97144e2 100644
--- a/actions/locomotion_posture_dynamics/D38/session_007/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_007/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",
    "hand_marker_offsets_m": {
     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9925759884459153
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.406,
+     -0.0847,
+     -0.3627
+    ],
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+     "median": 18.2,
+     "p90": 30.82
+    },
+    "samples": 868,
+    "accepted": 775,
+    "wrist_pos_err_mm_median": 152.7,
+    "per_camera": {
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+      "accepted": 775,
+      "gate_deg": 30.0,
+      "offset_deg": 31.57,
+      "tier": "primary",
+      "dev_deg_median": 18.2,
+      "wrist_pos_err_mm_median": 152.7
+     }
+    },
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+     "interpolated": 1748,
+     "mean_hand": 324,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9387,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.77
+    },
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+      "p90": 22.6
+     },
+     "registered": {
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+      "p90": 22.0
+     }
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+    "offset_rotvec": [
+     0.0696,
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+     0.456
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+     "p90": 53.0
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+    "accepted": 642,
+    "wrist_pos_err_mm_median": 155.3,
+    "per_camera": {
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+      "accepted": 642,
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+      "offset_deg": 33.79,
+      "tier": "primary",
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+     }
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+     }
+    }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:57:59.899076+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_posture_dynamics",
   "primitive": "D38",
   "source_session": "20260919/D38/20260919_073242_session116"
+ },
+ "task": {
+  "primitive": "D38",
+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2068aa1613e27c248de7c0567553d7c9d25464bd
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1c8ea92a291a62925adc55c708f53538108843dc98f6adbd9e01eeab58f4fd
+size 1329693
diff --git a/actions/locomotion_posture_dynamics/D38/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_007/motions/smplx.npz
index beaa3216a3f7b56cde12d4ab2d0882e699755d47..729c9bc833288924088d89fdfa1e0dc9ce8b4e83 100644
--- a/actions/locomotion_posture_dynamics/D38/session_007/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 2027921
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+size 3517835
diff --git a/actions/locomotion_posture_dynamics/D38/session_008/annotations.json b/actions/locomotion_posture_dynamics/D38/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8716b9947ae613d6e51c0b379e889b31b19c3a3
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_008/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
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+   "video": "left_eye",
+   "video_t_start": 0.03938797462854193
+  }
+ ],
+ "episodes": [
+  {
+   "id": "336c1091-e5fc-4396-bf80-f7bf756764b5",
+   "segment": "segment1",
+   "action": "D38",
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+   "end_s": 29.057,
+   "t_start": 1.3354,
+   "t_end": 29.0964,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "5ffbd904-103e-4812-a5ec-b27b7dd4b49d",
+   "segment": "segment1",
+   "action": "D38",
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+   "end_s": 47.306,
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+   "t_end": 47.3454,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4185de967b1cb6f4dda59c70a11fa0ff52dbe548
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,249 @@
+{
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+  "groups_used": 15,
+  "median_px": 0.484
+ },
+ "cameras": {
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+    "right_eye",
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+    -0.9794
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    0.8927,
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+   "usable": true
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+  },
+  "right": {
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+   "against": [
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+    "left_eye",
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+    0.0722
+   ],
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+   "usable": true
+  },
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+   "against": [
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+    0.86
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+   "position_split_mm": 3.656,
+   "rotvec_deg": [
+    0.577,
+    -0.3965,
+    -0.693
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+   "split_deg": 0.2701,
+   "usable": true
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+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "rotvec_deg": [
+    -0.6205,
+    0.1233,
+    -1.8422
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+   "split_deg": 0.0052,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "138be45a40b318d8d3e07cfe862289f33a0aeb2c961f7536c80955ccfd047359",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "6e39ae069e7de1205db5b2eb4919d2302bd914ed0380b2bc281ceb6b0f2000bd",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "150216b104593cd2",
+ "kind": "online_calibration",
+ "output_sha256": "bf3b58e856cf0dc36c26e3ea9ef8b9dc757bd179d42ceb4a649f55b834ed6e4e",
+ "overlap": {
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 25.114,
+  "left_front": 25.147,
+  "right": 23.611,
+  "right_eye": 27.095,
+  "right_front": 22.648
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   20086560116333,
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+   20110560138555,
+   20111560105222,
+   20112560249666,
+   20113560138555,
+   20114560138555,
+   20115560116333,
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+   20118560138555,
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+   20126560138555,
+   20127560127444,
+   20128560127444,
+   20129560127444,
+   20130560138555
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D38/session_008/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ae6af9c95deaaa81c29c47f9829fd9dc8927412c
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7361d4b916cd0133290258298aded4e0279bda4780b5f848f4f6c60acf1cd325
+size 313373
diff --git a/actions/locomotion_posture_dynamics/D38/session_008/meta.json b/actions/locomotion_posture_dynamics/D38/session_008/meta.json
index 13103f61cd18a9e42f45d75a600aa5753cb63f49..9b555f9ca663d7bd3188f101d9fb64505b068de7 100644
--- a/actions/locomotion_posture_dynamics/D38/session_008/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_008/meta.json
@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.8322847836463396
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     0.0928,
+     -0.01
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+     "p90": 26.43
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+    "accepted": 1426,
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+    "per_camera": {
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 96.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 380,
+     "mean_hand": 354,
+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.05,
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.9
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+     "registered": {
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+    "accepted": 1326,
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+    "per_camera": {
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+      "accepted": 1326,
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+      "tier": "primary",
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+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 492,
+     "mean_hand": 648,
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+    },
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+    "palm_axis_vs_markers_deg": {
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+ },
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   "family": "locomotion_posture_dynamics",
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   "source_session": "20260921/D38/20260921_055251_session110"
+ },
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+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a830b373a06426467eec7a0616a229dca7936ca5
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 2001324
diff --git a/actions/locomotion_posture_dynamics/D38/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_008/motions/smplx.npz
index f846a40bab48370da86be7c7acdc583d8c37f743..1c0b21fe409547175ca15bfcf24d0e23f1eddc58 100644
--- a/actions/locomotion_posture_dynamics/D38/session_008/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_009/annotations.json b/actions/locomotion_posture_dynamics/D38/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2887e87399bd1d33a30e537200ad4f4f4d0edf0
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_009/annotations.json
@@ -0,0 +1,39 @@
+{
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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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b17979ad3388944cec5010d5dcd2a40fb67e9a99
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D38/session_009/meta.json b/actions/locomotion_posture_dynamics/D38/session_009/meta.json
index ad9af81b45ec9604d216b06ab7b80e8733f99078..2c27217472e8c9f3950881b05930308dcbdabad0 100644
--- a/actions/locomotion_posture_dynamics/D38/session_009/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_009/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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     "left": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4853716736697162
  },
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+    "accepted": 736,
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+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_009/motions/hands_mano.npz
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,39 @@
+{
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+ "primitive": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..97f0b0b2be86afff06c8d9c8c97d948cbee97ab4
--- /dev/null
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@@ -0,0 +1,246 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..556c67cb81ef027784ab0041b461b2d002acf5df
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/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_posture_dynamics/D38/session_010/meta.json b/actions/locomotion_posture_dynamics/D38/session_010/meta.json
index e9752ad12e8fd75f420d8f4d868df896ce90e636..c5fb95f80f527c3dca7c142f652cda8ad8d7a2d4 100644
--- a/actions/locomotion_posture_dynamics/D38/session_010/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_010/meta.json
@@ -325,8 +325,8 @@
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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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@@ -525,10 +525,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3659133952959663
  },
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+      "tier": "primary",
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+  ],
+  "generated_at_utc": "2026-11-03T22:27:13.965349+00:00",
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+  "wrist_flip_suspect": []
+ },
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   "family": "locomotion_posture_dynamics",
   "primitive": "D38",
   "source_session": "20260929/D38/20260929_022051_session38"
+ },
+ "task": {
+  "primitive": "D38",
+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_010/motions/hands_mano.npz
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--- /dev/null
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@@ -0,0 +1,3 @@
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+++ b/actions/locomotion_posture_dynamics/D38/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_011/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d46ac1d869c303088a55090b4f0f1bccf42cbeb
--- /dev/null
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@@ -0,0 +1,250 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..39635692abbc013e7dce2a93ca569dfd2c58689b
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c95e65cd9031fab4e4b91d6738c260e1fc6fe5916dadda909b6ba801d710ffc9
+size 399532
diff --git a/actions/locomotion_posture_dynamics/D38/session_011/meta.json b/actions/locomotion_posture_dynamics/D38/session_011/meta.json
index ace076d2967303bb139fbf5132bbfddd936fb2fd..98b5acc457b8a45d7b70b70b36c6850cd459690d 100644
--- a/actions/locomotion_posture_dynamics/D38/session_011/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_011/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)",
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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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@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4731473511524522
  },
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+      "wrist_pos_err_mm_median": 45.9
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+ },
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+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..482190415d5f491ba94293b491c8766660d7bfe9
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2312495
diff --git a/actions/locomotion_posture_dynamics/D38/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_011/motions/smplx.npz
index 95b3a19d228d0569fcd4946de90b802c98fb8093..88696df94d795e73123fd645d8ad30035a31fb43 100644
--- a/actions/locomotion_posture_dynamics/D38/session_011/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..e5a609599029be2e8be79fd0a6c72d8ee8e68897
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_012/annotations.json
@@ -0,0 +1,39 @@
+{
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+ "primitive": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D38/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faa24bfa6c26495bc36df2d2f08848831457252
--- /dev/null
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@@ -0,0 +1,248 @@
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+  "median_px": 0.35
+ },
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+    0.8222,
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+   "usable": true
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+   "against": [
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+    "left_eye",
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+    -0.9275
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+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  }
+ },
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+ "kind": "online_calibration",
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+  "right_front-right_eye": 0.734
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+  "left_front": 39.716,
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+  "right_eye": 28.863,
+  "right_front": 42.546
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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_posture_dynamics/D38/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_012/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658d95ecc8396c2970291ed0d41180e603ddee76e0257bee7b17684b6cebbfbf
+size 420713
diff --git a/actions/locomotion_posture_dynamics/D38/session_012/meta.json b/actions/locomotion_posture_dynamics/D38/session_012/meta.json
index 25cc0af4dcb9130220d9fccb2d7cb2802ad68228..fda4c03e3cee7789fa5acd5b70d670a5c841dae6 100644
--- a/actions/locomotion_posture_dynamics/D38/session_012/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/session_012/meta.json
@@ -339,8 +339,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.411645294285956
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.5281,
+     0.154
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+     "p90": 44.13
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+    "samples": 1130,
+    "accepted": 911,
+    "wrist_pos_err_mm_median": 237.9,
+    "per_camera": {
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+      "accepted": 911,
+      "gate_deg": 30.0,
+      "offset_deg": 54.39,
+      "tier": "primary",
+      "dev_deg_median": 17.81,
+      "wrist_pos_err_mm_median": 237.9
+     }
+    },
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+     "interpolated": 2828,
+     "mean_hand": 2292,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.742,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 49.36,
+     "smplx": 0.92
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.5
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+     "registered": {
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+     0.1199
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+     "p90": 38.12
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+    "accepted": 403,
+    "wrist_pos_err_mm_median": 427.6,
+    "per_camera": {
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+      "accepted": 403,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 427.6
+     }
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+     "interpolated": 1710,
+     "mean_hand": 5568,
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+    },
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+    "observed_fraction_of_valid": 0.3733,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.88
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 11.8
+     },
+     "registered": {
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+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:23:23.927553+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_posture_dynamics/D38/session_012",
   "family": "locomotion_posture_dynamics",
   "primitive": "D38",
   "source_session": "20260930/D38/20260930_020953_session34"
+ },
+ "task": {
+  "primitive": "D38",
+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1dec28d042c4631995c3d5aaeba5e12f505d1e3a
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4235f96e0b76ec90a0ed22a76db97eb711ff48803662c985c09d7988d4f2009e
+size 1197649
diff --git a/actions/locomotion_posture_dynamics/D38/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_012/motions/smplx.npz
index d22cc474ff244b331f7a447a82d3a22b9b10623c..31ac7277f29a3288a6ddb32a31ce65728e72c66b 100644
--- a/actions/locomotion_posture_dynamics/D38/session_012/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D38/session_013/annotations.json b/actions/locomotion_posture_dynamics/D38/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9b49417001e5b016ec0ff37a7e28a37b507a42b
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_013/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D38",
+ "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.039043376678837394
+  }
+ ],
+ "episodes": [
+  {
+   "id": "37e79cda-6b2a-4854-bc89-ad360a8960a0",
+   "segment": "segment1",
+   "action": "D38",
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+   "t_start": 0.783,
+   "t_end": 34.307,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 62.969,
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+   "t_end": 63.008,
+   "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D38/session_013/cameras/slam.npz b/actions/locomotion_posture_dynamics/D38/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76c629c701efdf9735994b56109d997dd15e491c
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:977347bb7151893bd124faf901d074a1a2cfb1291fd2c6eec51c8319e1d885b5
+size 398493
diff --git a/actions/locomotion_posture_dynamics/D38/session_013/meta.json b/actions/locomotion_posture_dynamics/D38/session_013/meta.json
index 14e6d0e913efff0b74e9d8fd9c9e9e488565fa99..af0d6b4aa1566075bf624480a8251ae4f8e533eb 100644
--- a/actions/locomotion_posture_dynamics/D38/session_013/meta.json
+++ b/actions/locomotion_posture_dynamics/D38/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",
    "hand_marker_offsets_m": {
     "left": {
@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0117238019383619
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.31,
+    "offset_rotvec": [
+     -0.2315,
+     0.1281,
+     0.3316
+    ],
+    "dev_deg": {
+     "median": 8.97,
+     "p90": 20.47
+    },
+    "samples": 1638,
+    "accepted": 1596,
+    "wrist_pos_err_mm_median": 394.5,
+    "per_camera": {
+     "head": {
+      "samples": 1638,
+      "accepted": 1596,
+      "gate_deg": 30.0,
+      "offset_deg": 24.31,
+      "tier": "primary",
+      "dev_deg_median": 8.97,
+      "wrist_pos_err_mm_median": 394.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6528,
+     "interpolated": 1744,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9986,
+    "observed_fraction_of_valid": 0.9986,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.78,
+     "smplx": 0.58
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.9,
+      "p90": 14.6
+     },
+     "registered": {
+      "median": 10.9,
+      "p90": 16.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 12.36,
+    "offset_rotvec": [
+     0.0538,
+     0.0886,
+     0.1891
+    ],
+    "dev_deg": {
+     "median": 17.87,
+     "p90": 48.85
+    },
+    "samples": 1526,
+    "accepted": 1185,
+    "wrist_pos_err_mm_median": 483.8,
+    "per_camera": {
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+      "samples": 1526,
+      "accepted": 1185,
+      "gate_deg": 30.0,
+      "offset_deg": 12.36,
+      "tier": "primary",
+      "dev_deg_median": 17.87,
+      "wrist_pos_err_mm_median": 483.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4866,
+     "interpolated": 2378,
+     "mean_hand": 1040,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.8745,
+    "observed_fraction_of_valid": 0.8745,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.44,
+     "smplx": 0.49
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 9.9
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 9.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:09:55.157453+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_posture_dynamics/D38/session_013",
   "family": "locomotion_posture_dynamics",
   "primitive": "D38",
   "source_session": "20261013/D38/20261013_072854_session115"
+ },
+ "task": {
+  "primitive": "D38",
+  "instruction": "Squat down then jump straight up, landing back into a squat. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D38/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D38/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8183d57c2533f86428d44aea71b1fd21def3d9b5
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D38/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:496eac53d07a814d90ab97dfe1d2ffc5f35fa7e1ceebef4d62fa535ee5a9c640
+size 2196132
diff --git a/actions/locomotion_posture_dynamics/D38/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D38/session_013/motions/smplx.npz
index bb8c2dedb651dde11896fc83954b1e7aadd66a57..dc2e8e083ff4273c1d78e58b3de302da8ef8044a 100644
--- a/actions/locomotion_posture_dynamics/D38/session_013/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D38/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:efcede37fb77d3b489d9a1e9739c5c429a5c56f6668c739d0fae4f6a84f45133
-size 3170187
+oid sha256:4906eaaf97f20984535bd85a3c55613e7cd1bbf2da7ead6494f3d1388f0b0f92
+size 5833641
diff --git a/actions/locomotion_posture_dynamics/D39/session_001/annotations.json b/actions/locomotion_posture_dynamics/D39/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..939350b2196a4ddf01630a57043772494da7a431
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_001/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 68.966656,
+   "video": "left_eye",
+   "video_t_start": 0.040633817852410825
+  }
+ ],
+ "episodes": [
+  {
+   "id": "a5d03998-d6d8-4bdf-ad36-553361da4630",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 0.919,
+   "end_s": 35.298,
+   "t_start": 0.9596,
+   "t_end": 35.3386,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "976b545a-446f-42c0-af89-bcb87ef6dbe0",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 38.177,
+   "end_s": 66.603,
+   "t_start": 38.2176,
+   "t_end": 66.6436,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0886ad0534ee2f03a7bee053e01c84ee3a8f181c
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 91,
+    "median_px": 617.8,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.326
+ },
+ "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": 7.863,
+   "inliers": 2149,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1607,
+    0.833,
+    0.4381
+   ],
+   "split_deg": 0.0155,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1005,
+   "gate_fail": [],
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+   "inliers": 3558,
+   "position_fitted": true,
+   "position_mm": [
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+    7.99,
+    12.13
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+   "position_sigma_mm": 0.395,
+   "position_split_mm": 3.07,
+   "rotvec_deg": [
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+    0.7581,
+    -0.797
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+   "split_deg": 0.0681,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.1727,
+   "gate_fail": [],
+   "held_out_px_after": 0.49,
+   "held_out_px_before": 3.1,
+   "inliers": 1489,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0944,
+    -0.08,
+    -0.1204
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+   "split_deg": 0.0388,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "gate_fail": [],
+   "held_out_px_after": 0.33,
+   "held_out_px_before": 1.803,
+   "inliers": 3698,
+   "position_fitted": true,
+   "position_mm": [
+    -9.19,
+    9.84,
+    8.69
+   ],
+   "position_sigma_mm": 0.31,
+   "position_split_mm": 2.244,
+   "rotvec_deg": [
+    0.1322,
+    0.4367,
+    -0.6635
+   ],
+   "split_deg": 0.0414,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9622,
+   "gate_fail": [],
+   "held_out_px_after": 0.298,
+   "held_out_px_before": 6.423,
+   "inliers": 5940,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3856,
+    0.5206,
+    -1.8521
+   ],
+   "split_deg": 0.0125,
+   "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": "bb782d1ff477d70920b4de5c4e661ed564f035914ce289a8de76bd8e7a5b91e8",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6bf477b42d64d2a458a06d89f14505cc7d16f5cec411f957c9e885111658f1f2",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "be690559e32c1d959803591ca1dc128d9b35faa0c0a344fc2c484a856b55a568",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1ad652d0013a80e45ccebad802a7136b00d7499a46f0266c700eb98205e5b1de",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "cc0fb3153cdca7bf",
+ "kind": "online_calibration",
+ "output_sha256": "b086d85319f43a360136e7b2f78423f5c6819454699ad5c1b02bc50e6609bd18",
+ "overlap": {
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+  "left_front-right_eye": 0.711,
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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": {
+  "left": 31.01,
+  "left_eye": 40.332,
+  "left_front": 42.937,
+  "right": 32.294,
+  "right_eye": 41.405,
+  "right_front": 42.341
+ },
+ "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_posture_dynamics/D39/session_001/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d8eb848027227edc9068b4bc074c26e0207503c
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f25bb918a3e6a5ad2040ba0878e37c7b655e5ba4440dad6e96a21c52f342e02a
+size 395817
diff --git a/actions/locomotion_posture_dynamics/D39/session_001/meta.json b/actions/locomotion_posture_dynamics/D39/session_001/meta.json
index 884829db662b05f00f119b73fa9a85505afd47ba..6b8bbec0485c4127313ba5735ed99691c43eb5e0 100644
--- a/actions/locomotion_posture_dynamics/D39/session_001/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_001/meta.json
@@ -388,8 +388,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -535,10 +535,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.62,
+    "offset_rotvec": [
+     -0.2043,
+     -0.2353,
+     -0.092
+    ],
+    "dev_deg": {
+     "median": 14.09,
+     "p90": 82.69
+    },
+    "samples": 1857,
+    "accepted": 1526,
+    "wrist_pos_err_mm_median": 35.5,
+    "per_camera": {
+     "head": {
+      "samples": 1857,
+      "accepted": 1526,
+      "gate_deg": 30.0,
+      "offset_deg": 18.62,
+      "tier": "primary",
+      "dev_deg_median": 14.09,
+      "wrist_pos_err_mm_median": 35.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6135,
+     "interpolated": 540,
+     "mean_hand": 1601,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8058,
+    "observed_fraction_of_valid": 0.8065,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.24,
+     "smplx": 5.04
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 10.2
+     },
+     "registered": {
+      "median": 8.9,
+      "p90": 11.0
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+   },
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+    "offset_rotvec": [
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+    "dev_deg": {
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+     "p90": 40.75
+    },
+    "samples": 1256,
+    "accepted": 1066,
+    "wrist_pos_err_mm_median": 44.5,
+    "per_camera": {
+     "head": {
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+      "accepted": 1066,
+      "gate_deg": 30.0,
+      "offset_deg": 10.46,
+      "tier": "primary",
+      "dev_deg_median": 11.95,
+      "wrist_pos_err_mm_median": 44.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4335,
+     "interpolated": 1220,
+     "mean_hand": 2721,
+     "no_body_fit": 8
+    },
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+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_001/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D39/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_001/motions/smplx.npz
index a1a2ff30b1f18ef311b247a4a1fbe3182c4d1d77..22ef8f057a707170121361aaaf37ca2b67c6afe5 100644
--- a/actions/locomotion_posture_dynamics/D39/session_001/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..f83878e8104b4cef50b86e22f6a691e2b40d9967
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_002/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  }
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+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
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+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e7f8b6125f4641eae20b52fe887bec6c31ed32
--- /dev/null
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@@ -0,0 +1,252 @@
+{
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+  "groups_used": 14,
+  "median_px": 0.329
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+    0.5537,
+    -1.3246
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+    "right_front",
+    "left_eye",
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+    -0.3294,
+    0.6516
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    0.501,
+    -0.6593,
+    -0.0392
+   ],
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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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+    -0.2266,
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+   ],
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+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "8e0e2207a6d3a7ca",
+ "kind": "online_calibration",
+ "output_sha256": "b3cded89f4f03926e1de26878a07543e09ca55ee9586e1197b6fc4672878f284",
+ "overlap": {
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+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
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+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 30.393,
+  "left_eye": 36.272,
+  "left_front": 44.414,
+  "right": 33.709,
+  "right_eye": 48.903,
+  "right_front": 49.032
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   5555534531444,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D39/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1de19957f00d1633058a35718e9adf2a89810c6c
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:474511a4c5dac4180337f324fb8f0ff67de4289ccf02100fa3477e0ec22df873
+size 397242
diff --git a/actions/locomotion_posture_dynamics/D39/session_002/meta.json b/actions/locomotion_posture_dynamics/D39/session_002/meta.json
index 1fa768df5dadc7d2f51d88e7fe17641ffee694eb..c778039e0df0b8ca41ec11e4abc6e793bc0699ed 100644
--- a/actions/locomotion_posture_dynamics/D39/session_002/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_002/meta.json
@@ -343,8 +343,8 @@
   "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": {
@@ -533,10 +533,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5167986019904345
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     -0.0059,
+     -0.2166,
+     0.0849
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+     "median": 16.2,
+     "p90": 28.71
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+    "samples": 1927,
+    "accepted": 1786,
+    "wrist_pos_err_mm_median": 61.5,
+    "per_camera": {
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+      "accepted": 1786,
+      "gate_deg": 30.0,
+      "offset_deg": 13.33,
+      "tier": "primary",
+      "dev_deg_median": 16.2,
+      "wrist_pos_err_mm_median": 61.5
+     }
+    },
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+     "interpolated": 852,
+     "mean_hand": 144,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9826,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 15.0
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+     "registered": {
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+      "p90": 13.1
+     }
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+     "p90": 172.12
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+    "accepted": 957,
+    "wrist_pos_err_mm_median": 59.9,
+    "per_camera": {
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+      "accepted": 957,
+      "gate_deg": 30.0,
+      "offset_deg": 15.42,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 59.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1894,
+     "mean_hand": 2484,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7001,
+    "observed_fraction_of_valid": 0.7001,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.74
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 10.9
+     },
+     "registered": {
+      "median": 8.6,
+      "p90": 10.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:19:54.524186+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_posture_dynamics/D39/session_002",
   "family": "locomotion_posture_dynamics",
   "primitive": "D39",
   "source_session": "20260907/D39/20260907_082108_session159"
+ },
+ "task": {
+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9f2b0b1abaae470db29e899251ea69046838db56
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6cc1267d22b4a389133d8ea90cc40fad623f68df94edc02f6cf26aae258a3fb
+size 2229505
diff --git a/actions/locomotion_posture_dynamics/D39/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_002/motions/smplx.npz
index b42701ea193006b6f12a0164011232a3064e2bb3..76f9082ebff957fa06c16ca1cf4ef8b1722179ad 100644
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+++ b/actions/locomotion_posture_dynamics/D39/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D39/session_003/annotations.json b/actions/locomotion_posture_dynamics/D39/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3a9e19668f3e62c98bc25f7ca9cd47648d9b079
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_003/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 73.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03962884910168807
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5849b47f-d439-4dff-b784-791c1d502a1d",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 1.231,
+   "end_s": 35.901,
+   "t_start": 1.2706,
+   "t_end": 35.9406,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "57261d2e-7290-444d-a6fd-3e6b88bfeac8",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 37.084,
+   "end_s": 69.741,
+   "t_start": 37.1236,
+   "t_end": 69.7806,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_003/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d97a1edde1f06d800927df744ff609d45347ec7
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eeb00371ad0ccfd83b42cd805f811816660028a0cb9c9db26e9cccd6b3d183a
+size 427500
diff --git a/actions/locomotion_posture_dynamics/D39/session_003/meta.json b/actions/locomotion_posture_dynamics/D39/session_003/meta.json
index ed23760951c534d66a09b382c491225854f392bd..edcb4cdfb9a96d0e81be8a13723e9662aa9e5ed8 100644
--- a/actions/locomotion_posture_dynamics/D39/session_003/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_003/meta.json
@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9985767242327145
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 8.51,
+    "offset_rotvec": [
+     -0.0209,
+     -0.0689,
+     0.1298
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+     "p90": 31.2
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+    "samples": 1932,
+    "accepted": 1707,
+    "wrist_pos_err_mm_median": 112.8,
+    "per_camera": {
+     "head": {
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+      "accepted": 1707,
+      "gate_deg": 30.0,
+      "offset_deg": 8.51,
+      "tier": "primary",
+      "dev_deg_median": 19.96,
+      "wrist_pos_err_mm_median": 112.8
+     }
+    },
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+     "interpolated": 1868,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9986,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.81,
+     "smplx": 1.61
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 21.9
+     },
+     "registered": {
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+      "p90": 20.6
+     }
+    }
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+    "offset_rotvec": [
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+     -0.0577
+    ],
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+     "median": 15.02,
+     "p90": 33.84
+    },
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+    "accepted": 1474,
+    "wrist_pos_err_mm_median": 67.1,
+    "per_camera": {
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+      "samples": 1701,
+      "accepted": 1474,
+      "gate_deg": 30.0,
+      "offset_deg": 4.25,
+      "tier": "primary",
+      "dev_deg_median": 15.02,
+      "wrist_pos_err_mm_median": 67.1
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1386,
+     "mean_hand": 1536,
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 4.05
+    },
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+      "p90": 12.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:41:48.022163+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_posture_dynamics",
   "primitive": "D39",
   "source_session": "20260908/D39/20260908_051617_session23"
+ },
+ "task": {
+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05faf6278fa38a8a06b736cf3b1e060ffd1972f5
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc642eb53d9f9f11cce20e59aad2440f7dd1875338dd4403c2986edf04b3362b
+size 2513685
diff --git a/actions/locomotion_posture_dynamics/D39/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_003/motions/smplx.npz
index e52de7f27f33aab40e439fa88d5b04b29e34ef81..b2624a814af14ae204d71aaac46a382fc1d73395 100644
--- a/actions/locomotion_posture_dynamics/D39/session_003/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:455027bc763c1321438823fd6daac8de22c21e220300b2fd4285dc6ac61b29b0
-size 3390949
+oid sha256:10665b3ff2d9faf74f0e5c73753121f30bfa3a828c03f2c8231a372ccc898b80
+size 6215064
diff --git a/actions/locomotion_posture_dynamics/D39/session_004/annotations.json b/actions/locomotion_posture_dynamics/D39/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc2085e5b6054ffb529f1a226e50864af902d18b
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_004/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 68.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03919909252217657
+  }
+ ],
+ "episodes": [
+  {
+   "id": "22df4d00-ebf4-4deb-bc9d-e40b46572470",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 30.77,
+   "t_start": 0.0392,
+   "t_end": 30.8092,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "f689dea4-ead8-42f5-bc0d-6265dc04f7f1",
+   "segment": "segment1",
+   "action": "D39",
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+   "end_s": 62.365,
+   "t_start": 30.8092,
+   "t_end": 62.4042,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c0d22963a5972d18719f03d7db8a8bde947a59d
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 6.72,
+    "pair": [
+     "right_front",
+     "left"
+    ]
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+  ],
+  "groups_used": 12,
+  "median_px": 0.323
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_eye",
+    "right_eye"
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+   "held_out_px_after": 0.498,
+   "held_out_px_before": 5.27,
+   "inliers": 193,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2767,
+    -0.6135,
+    0.3308
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+   "split_deg": 0.0904,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "inliers": 2299,
+   "position_fitted": true,
+   "position_mm": [
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+    -22.18,
+    9.71
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+   "rotvec_deg": [
+    0.3544,
+    0.5703,
+    -1.0554
+   ],
+   "split_deg": 0.079,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
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+   "inliers": 1920,
+   "position_fitted": false,
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+    -0.2848,
+    0.6969
+   ],
+   "split_deg": 0.0444,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
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+    "left_eye",
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+   "held_out_px_before": 4.084,
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+   "position_fitted": true,
+   "position_mm": [
+    6.25,
+    -21.41,
+    -2.27
+   ],
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+   "position_split_mm": 1.273,
+   "rotvec_deg": [
+    0.5723,
+    -0.7396,
+    0.2386
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+   "split_deg": 0.035,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.1061,
+   "gate_fail": [],
+   "held_out_px_after": 0.3,
+   "held_out_px_before": 2.601,
+   "inliers": 4121,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2693,
+    -0.2256,
+    -1.0488
+   ],
+   "split_deg": 0.0133,
+   "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": "fe8fc853e7678ac85a1cf8acbd6fb93c4b9d91cfcab2c6eeb052f882739d328e",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d466d508929fe2106d5c3324004c6541614ec849c75833caae06f7ab578a7793",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f6ee96619c4854a5a8ec83657cd7c885123102c707f5b3800d229058d9bae3cc",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7575722de9844f516fe1c84d74a2ffe6af71a3645a7cfd69535e60574e2010bc",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "180abdeb57991d4d",
+ "kind": "online_calibration",
+ "output_sha256": "becbb63de840f438e4c0b1cb829a987082486db12257cffa6e081f3e09b29180",
+ "overlap": {
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+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
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+  "left_front-right_front": 1.0,
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+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 27.205,
+  "left_front": 30.118,
+  "right": 31.8,
+  "right_eye": 29.078,
+  "right_front": 29.642
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   29442390330000,
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+   29501390330000
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D39/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..165ffb2c51a679f3576b6182ebdfe1d57645ad98
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:667cb6bf517922035c09869852466315dfb4daaf1806af2f0bb99259f91dc96f
+size 398194
diff --git a/actions/locomotion_posture_dynamics/D39/session_004/meta.json b/actions/locomotion_posture_dynamics/D39/session_004/meta.json
index c9cf64a30c6cf7827b6f7f4bb914af64fbe779f3..d16566b2202eb080c8e4406d01c98237fdb61add 100644
--- a/actions/locomotion_posture_dynamics/D39/session_004/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_004/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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9065083753446971
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.16,
+    "offset_rotvec": [
+     -0.0838,
+     -0.1525,
+     -0.034
+    ],
+    "dev_deg": {
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+     "p90": 58.08
+    },
+    "samples": 1251,
+    "accepted": 688,
+    "wrist_pos_err_mm_median": 63.3,
+    "per_camera": {
+     "head": {
+      "samples": 1251,
+      "accepted": 688,
+      "gate_deg": 30.0,
+      "offset_deg": 10.16,
+      "tier": "primary",
+      "dev_deg_median": 27.28,
+      "wrist_pos_err_mm_median": 63.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 2824,
+     "interpolated": 3088,
+     "mean_hand": 2372,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7137,
+    "observed_fraction_of_valid": 0.7137,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.34,
+     "smplx": 1.3
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 13.5,
+      "p90": 16.8
+     },
+     "registered": {
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+      "p90": 13.2
+     }
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+    "offset_rotvec": [
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+     0.0357,
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+    "dev_deg": {
+     "median": 18.42,
+     "p90": 48.76
+    },
+    "samples": 986,
+    "accepted": 731,
+    "wrist_pos_err_mm_median": 56.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 731,
+      "gate_deg": 30.0,
+      "offset_deg": 10.2,
+      "tier": "primary",
+      "dev_deg_median": 18.42,
+      "wrist_pos_err_mm_median": 56.2
+     }
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+ },
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   "family": "locomotion_posture_dynamics",
   "primitive": "D39",
   "source_session": "20260908/D39/20260908_122646_session167"
+ },
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+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..48c511336b7f2515b6ccb60eec73bfbd1f8396b4
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D39/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_004/motions/smplx.npz
index 1fdc963940c2e2b84fdacee1ea143f50e4397e71..22cfd9425f7a0569e8b49a85aa7a644df64ec2f5 100644
--- a/actions/locomotion_posture_dynamics/D39/session_004/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D39/session_005/annotations.json b/actions/locomotion_posture_dynamics/D39/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab1bf17f9119c34de0556f1567f655f40ae3743
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_005/annotations.json
@@ -0,0 +1,39 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_005/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D39/session_005/meta.json b/actions/locomotion_posture_dynamics/D39/session_005/meta.json
index 7a146442adaaee36dd2aad1b1e0ba1148339818e..9a23c257c0c36a77029a7a5ddee318fe0c7b1527 100644
--- a/actions/locomotion_posture_dynamics/D39/session_005/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_005/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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   "hands": {
-   "observed": false,
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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": 0.9982728011271615
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  }
 }
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+}
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..6e8b877d200ecb20c509ea6e33df2958519f09ec
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D39/session_006/meta.json b/actions/locomotion_posture_dynamics/D39/session_006/meta.json
index 0f96fd70bdc1acee1721393759a1d30bd795d893..2e30a58b88fa84e6819b60d77c555d6b6d36580c 100644
--- a/actions/locomotion_posture_dynamics/D39/session_006/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_006/meta.json
@@ -329,8 +329,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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@@ -526,10 +526,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0053289912716117
  },
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+     0.1789,
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+    "accepted": 869,
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+      "offset_deg": 11.87,
+      "tier": "primary",
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+     "smplx": 1.52
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+  "cameras_used": [
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+  "wrist_flip_suspect": []
+ },
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   "family": "locomotion_posture_dynamics",
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   "source_session": "20260916/D39/20260916_050427_session74"
+ },
+ "task": {
+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8239dc0239f74365cbc95d325742cb422214b2f6
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1735249
diff --git a/actions/locomotion_posture_dynamics/D39/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_006/motions/smplx.npz
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--- a/actions/locomotion_posture_dynamics/D39/session_006/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_006/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,39 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+ "episodes": [
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+  },
+  {
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+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_007/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D39/session_007/meta.json b/actions/locomotion_posture_dynamics/D39/session_007/meta.json
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--- a/actions/locomotion_posture_dynamics/D39/session_007/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_007/meta.json
@@ -327,8 +327,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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@@ -518,10 +518,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8900047775857145
  },
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 355.1
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+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:58:04.284802+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": []
+ },
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   "family": "locomotion_posture_dynamics",
   "primitive": "D39",
   "source_session": "20260919/D39/20260919_073354_session117"
+ },
+ "task": {
+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_007/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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diff --git a/actions/locomotion_posture_dynamics/D39/session_007/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_007/motions/smplx.npz
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+++ b/actions/locomotion_posture_dynamics/D39/session_007/motions/smplx.npz
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_008/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "video": "left_eye",
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+   "t_end": 33.7833,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "791736cc-0bf3-4eb3-9e62-4af14d609c40",
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+   "t_end": 66.0063,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_008/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_008/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+++ b/actions/locomotion_posture_dynamics/D39/session_008/meta.json
@@ -325,8 +325,8 @@
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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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@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5809520757298823
  },
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_008/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_008/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 1461574
diff --git a/actions/locomotion_posture_dynamics/D39/session_008/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_008/motions/smplx.npz
index a26c64b8c7a3286fedbbc8342e1ccdb99b04ea40..7b6b1844c38c2c8bc023a3e3d6c28ba6fd1af3e2 100644
--- a/actions/locomotion_posture_dynamics/D39/session_008/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..3acd30889971e41d9846c1f38307041795d2ed2e
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_009/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
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+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..89860c1843d07018942248f6f51edc686c980e69
--- /dev/null
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@@ -0,0 +1,250 @@
+{
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+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "left_eye",
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+    -0.3498,
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+  "right_front": {
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+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+    0.0129,
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+   ],
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  }
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+ "kind": "online_calibration",
+ "output_sha256": "50a4e27005340201ebbbfea6f954e8517e990418d853e86ee6cc33bb1f66d344",
+ "overlap": {
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+  "left_front-right_front": 1.0,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 32.709,
+  "left_front": 34.357,
+  "right": 39.243,
+  "right_eye": 35.365,
+  "right_front": 37.893
+ },
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+  "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_posture_dynamics/D39/session_009/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..581c39c793cd8433334a5a8b03a9922dfbcc8b2b
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0310b7fb83f77121b4f6fcdb34374752d8098326640f9728219e89d570742e40
+size 391048
diff --git a/actions/locomotion_posture_dynamics/D39/session_009/meta.json b/actions/locomotion_posture_dynamics/D39/session_009/meta.json
index 5aadd77e8b1fc6c463241ba294debed2c427aba2..03864b338601a91d469e2c6ef2c227dfc8aa0fe8 100644
--- a/actions/locomotion_posture_dynamics/D39/session_009/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_009/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -541,10 +541,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4503526338292492
  },
+ "hands_registration": {
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+  "hands": {
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+     -0.1998,
+     -0.0953
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+    "accepted": 1178,
+    "wrist_pos_err_mm_median": 279.3,
+    "per_camera": {
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+      "offset_deg": 25.36,
+      "tier": "primary",
+      "dev_deg_median": 17.15,
+      "wrist_pos_err_mm_median": 279.3
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.72
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
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+    "accepted": 1057,
+    "wrist_pos_err_mm_median": 91.9,
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+     }
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+     "mean_hand": 2836,
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+     }
+    }
+   }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:27:14.281595+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_posture_dynamics/D39/session_009",
   "family": "locomotion_posture_dynamics",
   "primitive": "D39",
   "source_session": "20260929/D39/20260929_022203_session39"
+ },
+ "task": {
+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_009/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f6534530e5e559d36d1cf4ec69528c7f19dfb937
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67cbe58f38d198025aa3457dbe45609354574c484fc16c210c4eb23abf308f6
+size 1835087
diff --git a/actions/locomotion_posture_dynamics/D39/session_009/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_009/motions/smplx.npz
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+++ b/actions/locomotion_posture_dynamics/D39/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D39/session_010/annotations.json b/actions/locomotion_posture_dynamics/D39/session_010/annotations.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,39 @@
+{
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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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966556,
+   "video": "left_eye",
+   "video_t_start": 0.038832955807372116
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e00298a2-ee54-40b5-95b4-a094e208184c",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 42.162,
+   "t_start": 0.0388,
+   "t_end": 42.2008,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "dcadf602-b32c-4a4a-bbad-16c8874cd915",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 45.914,
+   "end_s": 80.935,
+   "t_start": 45.9528,
+   "t_end": 80.9738,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c9df1181868cc676d49c9e1e78c990ee068dcb2
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.354
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2495,
+   "gate_fail": [],
+   "held_out_px_after": 0.572,
+   "held_out_px_before": 5.962,
+   "inliers": 2223,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1723,
+    -0.4985,
+    -1.1327
+   ],
+   "split_deg": 0.0596,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4619,
+   "gate_fail": [],
+   "held_out_px_after": 0.391,
+   "held_out_px_before": 6.627,
+   "inliers": 3344,
+   "position_fitted": true,
+   "position_mm": [
+    4.89,
+    -7.0,
+    3.54
+   ],
+   "position_sigma_mm": 0.245,
+   "position_split_mm": 4.603,
+   "rotvec_deg": [
+    0.0963,
+    0.8435,
+    -2.3109
+   ],
+   "split_deg": 0.0566,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.6046,
+   "gate_fail": [],
+   "held_out_px_after": 0.528,
+   "held_out_px_before": 5.784,
+   "inliers": 1413,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.5097,
+    -0.453,
+    -0.3008
+   ],
+   "split_deg": 0.1506,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0832,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 3.334,
+   "inliers": 3350,
+   "position_fitted": true,
+   "position_mm": [
+    9.11,
+    -8.36,
+    3.71
+   ],
+   "position_sigma_mm": 0.285,
+   "position_split_mm": 5.011,
+   "rotvec_deg": [
+    0.3986,
+    -0.304,
+    -0.9603
+   ],
+   "split_deg": 0.0539,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9891,
+   "gate_fail": [],
+   "held_out_px_after": 0.298,
+   "held_out_px_before": 5.412,
+   "inliers": 5044,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2405,
+    -0.0172,
+    -1.9744
+   ],
+   "split_deg": 0.0083,
+   "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": "d8d19d0c30c66a354c3b4232311ee4004a93efd9bde62e960657c8f37fe4d9f7",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "95972d8ef21af30cf1ef9322393a9b9aa8367a2e108d9e32e8b7903e1514d063",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1657a01f2298c4615d70d7c43c7a661dc0cef8b9269f4e5cf813539157856fbb",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d61246e948b8556fb6722e8a77299cfbcac60d9db351244645f8175b8f6626cb",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "ab4d5de4f0d96b14",
+ "kind": "online_calibration",
+ "output_sha256": "d5863e914fc79168784b5928e57d2e42a38e53c1c730c1e1d5eacdf7a00f8a7d",
+ "overlap": {
+  "left-right": 0.501,
+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 30.403,
+  "left_eye": 34.257,
+  "left_front": 40.189,
+  "right": 33.883,
+  "right_eye": 32.076,
+  "right_front": 39.495
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   34734331812666,
+   34735331812666,
+   34737331812666,
+   34738331846000,
+   34740331823777,
+   34741331812666,
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+   34747331823777,
+   34748331846000,
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+   34751331834888,
+   34752331812666,
+   34753331890444,
+   34754331846000,
+   34757331901555,
+   34758331823777,
+   34760331857111,
+   34761331823777,
+   34763331846000,
+   34764331823777,
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+   34771331823777,
+   34772331834888,
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+   34775331812666,
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+   34778331834888,
+   34779331834888,
+   34782331812666,
+   34783331834888,
+   34784331823777,
+   34788331857111,
+   34789331846000,
+   34790331846000,
+   34791331823777,
+   34792331857111,
+   34794331901555,
+   34795331834888,
+   34798331834888,
+   34799331812666,
+   34800331834888,
+   34802331801555,
+   34803331834888,
+   34805331812666,
+   34806331857111,
+   34808331834888,
+   34809331846000,
+   34811331846000,
+   34812331834888,
+   34813331834888,
+   34814331846000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D39/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bba373cc6bb025061b22bbf4881140518c24abb7
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b07d3828d0440607309047545812679950be1fa4abd27d711a3e12940787c26
+size 482638
diff --git a/actions/locomotion_posture_dynamics/D39/session_010/meta.json b/actions/locomotion_posture_dynamics/D39/session_010/meta.json
index 028a6758dd2a327d7e27d54cc5c639161a2ac3d0..e2d478739dbe185aac913af37f3cc133124156c9 100644
--- a/actions/locomotion_posture_dynamics/D39/session_010/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_010/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4361232762390885
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.67,
+    "offset_rotvec": [
+     0.3604,
+     -0.1216,
+     0.1091
+    ],
+    "dev_deg": {
+     "median": 16.87,
+     "p90": 50.77
+    },
+    "samples": 1987,
+    "accepted": 1435,
+    "wrist_pos_err_mm_median": 41.3,
+    "per_camera": {
+     "head": {
+      "samples": 1987,
+      "accepted": 1435,
+      "gate_deg": 30.0,
+      "offset_deg": 22.67,
+      "tier": "primary",
+      "dev_deg_median": 16.87,
+      "wrist_pos_err_mm_median": 41.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5880,
+     "interpolated": 2460,
+     "mean_hand": 1740,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.8271,
+    "observed_fraction_of_valid": 0.8274,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.19,
+     "smplx": 1.25
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.1,
+      "p90": 15.6
+     },
+     "registered": {
+      "median": 10.8,
+      "p90": 14.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 13.0,
+    "offset_rotvec": [
+     0.2077,
+     0.089,
+     0.0198
+    ],
+    "dev_deg": {
+     "median": 17.17,
+     "p90": 41.9
+    },
+    "samples": 1708,
+    "accepted": 1310,
+    "wrist_pos_err_mm_median": 53.3,
+    "per_camera": {
+     "head": {
+      "samples": 1708,
+      "accepted": 1310,
+      "gate_deg": 30.0,
+      "offset_deg": 13.0,
+      "tier": "primary",
+      "dev_deg_median": 17.17,
+      "wrist_pos_err_mm_median": 53.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5320,
+     "interpolated": 2184,
+     "mean_hand": 2576,
+     "no_body_fit": 4
+    },
+    "observed_fraction": 0.7441,
+    "observed_fraction_of_valid": 0.7444,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.47,
+     "smplx": 2.21
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.6,
+      "p90": 6.8
+     },
+     "registered": {
+      "median": 5.4,
+      "p90": 7.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:27:14.709618+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_posture_dynamics/D39/session_010",
   "family": "locomotion_posture_dynamics",
   "primitive": "D39",
   "source_session": "20260929/D39/20260929_095458_session185"
+ },
+ "task": {
+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e6d39f9686eb536d2504a9281eb8a9ba0ef488d0
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18350e3004aad20b1959899f4063190e801bed5d314f37897196152ac134853
+size 2562788
diff --git a/actions/locomotion_posture_dynamics/D39/session_010/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_010/motions/smplx.npz
index 4a5e5de0f777bdf02965940c2020cbaefdd3e4fd..75c5cc81f9357e6b73d9767a476ed8653e0249a6 100644
--- a/actions/locomotion_posture_dynamics/D39/session_010/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f9fd42a91a8b17641b65b97f59763ca201d33bda9142bd3ab1fd87146dae911c
-size 3837674
+oid sha256:f523cf010d41066527725280f24959e93cbf38080fde04bde4a5937d2f738869
+size 6691655
diff --git a/actions/locomotion_posture_dynamics/D39/session_011/annotations.json b/actions/locomotion_posture_dynamics/D39/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9c195ce79da0da65302d2ff5f0fd5db2f8dae8
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_011/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 68.966811,
+   "video": "left_eye",
+   "video_t_start": 0.03935757903796655
+  }
+ ],
+ "episodes": [
+  {
+   "id": "dba5ecb6-1cfd-4970-bcca-d387c4ef88b7",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 32.677,
+   "t_start": 0.0394,
+   "t_end": 32.7164,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "d96d1770-669e-4f54-8a57-0ee37dd510df",
+   "segment": "segment1",
+   "action": "D39",
+   "quality": "valid",
+   "start_s": 35.307,
+   "end_s": 65,
+   "t_start": 35.3464,
+   "t_end": 65.0394,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ba45ba2a582599e08650047d682699747ee3db
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,248 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.331
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2526,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 5.989,
+   "inliers": 1826,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1327,
+    -0.4901,
+    -1.1451
+   ],
+   "split_deg": 0.0389,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4548,
+   "gate_fail": [],
+   "held_out_px_after": 0.372,
+   "held_out_px_before": 6.635,
+   "inliers": 3171,
+   "position_fitted": true,
+   "position_mm": [
+    -0.34,
+    -8.91,
+    11.45
+   ],
+   "position_sigma_mm": 0.426,
+   "position_split_mm": 5.52,
+   "rotvec_deg": [
+    -0.0945,
+    0.8404,
+    -2.3045
+   ],
+   "split_deg": 0.0427,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.72,
+   "gate_fail": [],
+   "held_out_px_after": 0.514,
+   "held_out_px_before": 5.678,
+   "inliers": 1554,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6629,
+    -0.4292,
+    -0.0955
+   ],
+   "split_deg": 0.0946,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9975,
+   "gate_fail": [],
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new file mode 100644
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index 833ba5f8232729ad2429dc359f302d71cc6160de..9fde97fadba80d85d62affb36a3f81037129368e 100644
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@@ -538,5 +538,9 @@
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 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_011/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,39 @@
+{
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diff --git a/actions/locomotion_posture_dynamics/D39/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_012/cameras/gsi_online_calibration.json
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diff --git a/actions/locomotion_posture_dynamics/D39/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_012/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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index 149e03af1342fe6d49747a142e7ddf40ad852046..6d08b82541c67f57bb9c2759f9b7116a3f679f8f 100644
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@@ -531,10 +531,124 @@
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+ },
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   "family": "locomotion_posture_dynamics",
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+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_012/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 1921745
diff --git a/actions/locomotion_posture_dynamics/D39/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_012/motions/smplx.npz
index 4928b752f06e9f3aa168f56e7bda346ed9806ef0..6cdf4c24aec61e98350a5ae3ace82e1aa1f43487 100644
--- a/actions/locomotion_posture_dynamics/D39/session_012/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D39/session_013/annotations.json b/actions/locomotion_posture_dynamics/D39/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ef4de8413e5aeba58caf05f44edcf196c52584
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_013/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D39",
+ "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "video": "left_eye",
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+ ],
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+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
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+   "t_end": 67.2727,
+   "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D39/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D39/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7209f7612a9d0968f387c5b6c09f3b3e417be7b6
--- /dev/null
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@@ -0,0 +1,254 @@
+{
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+  "groups_used": 15,
+  "median_px": 0.318
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+    -1.3084
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+   "usable": true
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+    0.8196,
+    -2.2981
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+   "usable": true
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+    "right_front",
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+    0.0799
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+   "usable": true
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+    "right_front",
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+    "left",
+    "right"
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+   "position_fitted": true,
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+    8.73
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+    -0.3078,
+    -0.9908
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    -0.0919,
+    -2.1126
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+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  }
+ },
+ "input_fingerprint": "dd52f373f0b71d5d",
+ "kind": "online_calibration",
+ "output_sha256": "0e2312374347bbab70d0e33ebb93dde26ff50649e8a46ff8a677b0cca8501d27",
+ "overlap": {
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+  "right_eye-left": 0.696,
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+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 36.989,
+  "left_eye": 53.201,
+  "left_front": 49.605,
+  "right": 41.021,
+  "right_eye": 53.875,
+  "right_front": 49.114
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   36622310685555,
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+   36624310718888,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D39/session_013/cameras/slam.npz b/actions/locomotion_posture_dynamics/D39/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..81513701d5d418034cd1a62d26309d0375801af1
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df6845f0472b7cb0e353bd68da3792bb7d3a9e893aa3c8846a795873867480bc
+size 419988
diff --git a/actions/locomotion_posture_dynamics/D39/session_013/meta.json b/actions/locomotion_posture_dynamics/D39/session_013/meta.json
index 57f18a3709ab62a141fba973819c42228e4f93c4..2f87a35e0779ab0e7c3ab1e7bb9123478e76665e 100644
--- a/actions/locomotion_posture_dynamics/D39/session_013/meta.json
+++ b/actions/locomotion_posture_dynamics/D39/session_013/meta.json
@@ -341,8 +341,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5222346940712543
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.0114,
+     0.0013,
+     0.082
+    ],
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+     "p90": 35.27
+    },
+    "samples": 1320,
+    "accepted": 1121,
+    "wrist_pos_err_mm_median": 361.5,
+    "per_camera": {
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+      "accepted": 1121,
+      "gate_deg": 30.0,
+      "offset_deg": 4.74,
+      "tier": "primary",
+      "dev_deg_median": 15.03,
+      "wrist_pos_err_mm_median": 361.5
+     }
+    },
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+     "interpolated": 2418,
+     "mean_hand": 1812,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.796,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.41,
+     "smplx": 0.97
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 17.8
+     },
+     "registered": {
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+      "p90": 16.7
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+     0.3234
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+     "p90": 51.02
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+    "accepted": 719,
+    "wrist_pos_err_mm_median": 100.0,
+    "per_camera": {
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+      "accepted": 719,
+      "gate_deg": 30.0,
+      "offset_deg": 23.64,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 100.0
+     }
+    },
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+     "interpolated": 2406,
+     "mean_hand": 3546,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.6009,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.86
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 15.0
+     },
+     "registered": {
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+      "p90": 14.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:09:54.980057+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_posture_dynamics/D39/session_013",
   "family": "locomotion_posture_dynamics",
   "primitive": "D39",
   "source_session": "20261013/D39/20261013_103259_session188"
+ },
+ "task": {
+  "primitive": "D39",
+  "instruction": "Wave to someone across the room, point at different things around you, and clap. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D39/session_013/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D39/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac7612c55d9fdd2b5f20734c196f5b9972922239
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D39/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c2bc42ebf72480d5b30fe4edefd2ff2c5df54dfcb61123c73ff8f3163e2e3c
+size 1659948
diff --git a/actions/locomotion_posture_dynamics/D39/session_013/motions/smplx.npz b/actions/locomotion_posture_dynamics/D39/session_013/motions/smplx.npz
index c2b8f1562283185c26da1debf41d4732e323b685..b83f2b21ed15be585e482586ad771307913fa746 100644
--- a/actions/locomotion_posture_dynamics/D39/session_013/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D39/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D40/session_001/annotations.json b/actions/locomotion_posture_dynamics/D40/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f0c71109f3753184c95fba273c7b122557954ce
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_001/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 68.966667,
+   "video": "left_eye",
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+   "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "e671da38-af69-4c54-a3e4-5b2d65cacbdc",
+   "segment": "segment1",
+   "action": "D40",
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+   "t_end": 63.0903,
+   "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D40/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d6d5753f473ddbb3417ceaaa38c6a3aebaba8a
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 188,
+    "median_px": 698.78,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
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+  "median_px": 0.359
+ },
+ "cameras": {
+  "left": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 7.259,
+   "inliers": 1782,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.8781,
+    0.3338
+   ],
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+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+    4.97,
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+    0.7205,
+    -0.8316
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+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 3.384,
+   "inliers": 1612,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.262,
+    -0.333,
+    -0.0465
+   ],
+   "split_deg": 0.1613,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "gate_fail": [],
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+   "held_out_px_before": 2.227,
+   "inliers": 3469,
+   "position_fitted": true,
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+    5.38,
+    12.1
+   ],
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+   "position_split_mm": 2.731,
+   "rotvec_deg": [
+    0.105,
+    0.3542,
+    -0.6565
+   ],
+   "split_deg": 0.1431,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 4815,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3932,
+    0.4529,
+    -1.8863
+   ],
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+   "usable": true
+  }
+ },
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+ "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": "32135692f6100c88c12ae2d4ae219bccb54ca4b893202330f23ec372dde3bcbd",
+   "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": "7231de69d8dd01150feada4001704e3550b7a41acd4fee262d7e07ce65e84ffa",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "3f1d6594d5d75fe1",
+ "kind": "online_calibration",
+ "output_sha256": "29585372f459b5fc3423216d47f282e052d5722f87e768c8571db991858c1047",
+ "overlap": {
+  "left-right": 0.487,
+  "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": 32.38,
+  "left_eye": 39.41,
+  "left_front": 43.841,
+  "right": 32.638,
+  "right_eye": 40.247,
+  "right_front": 44.376
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   725942761000,
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+   729942749888,
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+   765942749888,
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+   782942761000,
+   784942749888,
+   785942749888,
+   786942749888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D40/session_001/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..78c89c499b464de47304567b865d206fc7524543
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a79067da8e7afb626f0efd4e3d768dad3f76ec2b5ded0793b8dacea5523c7834
+size 396214
diff --git a/actions/locomotion_posture_dynamics/D40/session_001/meta.json b/actions/locomotion_posture_dynamics/D40/session_001/meta.json
index 3cdfb28548b1c0e3c696ca16eedf0738455a1af7..4e29caab982536327e734da60dc5cd409b61f40f 100644
--- a/actions/locomotion_posture_dynamics/D40/session_001/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_001/meta.json
@@ -387,8 +387,8 @@
   "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": {
@@ -590,10 +590,124 @@
   },
   "applied": 3
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
+     0.0158,
+     -0.1819,
+     -0.0392
+    ],
+    "dev_deg": {
+     "median": 14.62,
+     "p90": 159.29
+    },
+    "samples": 1901,
+    "accepted": 1221,
+    "wrist_pos_err_mm_median": 54.1,
+    "per_camera": {
+     "head": {
+      "samples": 1901,
+      "accepted": 1221,
+      "gate_deg": 30.0,
+      "offset_deg": 10.7,
+      "tier": "primary",
+      "dev_deg_median": 14.62,
+      "wrist_pos_err_mm_median": 54.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4890,
+     "interpolated": 362,
+     "mean_hand": 3032,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.634,
+    "observed_fraction_of_valid": 0.634,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.56,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
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+     -0.1677,
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+    "dev_deg": {
+     "median": 6.41,
+     "p90": 18.48
+    },
+    "samples": 1838,
+    "accepted": 1790,
+    "wrist_pos_err_mm_median": 36.9,
+    "per_camera": {
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+      "accepted": 1790,
+      "gate_deg": 30.0,
+      "offset_deg": 13.05,
+      "tier": "primary",
+      "dev_deg_median": 6.41,
+      "wrist_pos_err_mm_median": 36.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 664,
+     "mean_hand": 392,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9527,
+    "observed_fraction_of_valid": 0.9527,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.65,
+     "smplx": 1.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 7.1,
+      "p90": 8.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:29:59.629125+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_posture_dynamics/D40/session_001",
   "family": "locomotion_posture_dynamics",
   "primitive": "D40",
   "source_session": "20260903/D40/20260903_055010_session4"
+ },
+ "task": {
+  "primitive": "D40",
+  "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D40/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D40/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dcd0f61eb705c4b66a1699d2f713ddcccc3cfb20
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b6c44669ec6447f2f4e91db88342bdcd60d9a13a56cd32f2fc40d1523a3ec9c
+size 2560379
diff --git a/actions/locomotion_posture_dynamics/D40/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_001/motions/smplx.npz
index 5023be99d49e152c1aa39ababcd5b351e7e28da0..409bd463c2be7c6d681b186ed0bf0856c38e68ee 100644
--- a/actions/locomotion_posture_dynamics/D40/session_001/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D40/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7754e6d552fee3f1cba367e6d27e0f431ec5796c5c626338fca606304c185ad7
-size 3131999
+oid sha256:a8c48c0aac7ca20d322208c92bd9d8adc621994dbbb64dcecde892470362103e
+size 5437564
diff --git a/actions/locomotion_posture_dynamics/D40/session_002/annotations.json b/actions/locomotion_posture_dynamics/D40/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..27d6bea03a706a0ebb0fc3a658f4f53b77948b44
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_002/annotations.json
@@ -0,0 +1,39 @@
+{
+ "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": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 73.966522,
+   "video": "left_eye",
+   "video_t_start": 0.03890984887041249
+  }
+ ],
+ "episodes": [
+  {
+   "id": "e0a9efb7-911b-4eb7-9bfc-2c3581e87b6a",
+   "segment": "segment1",
+   "action": "D40",
+   "quality": "valid",
+   "start_s": 1.257,
+   "end_s": 34.625,
+   "t_start": 1.2959,
+   "t_end": 34.6639,
+   "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+  },
+  {
+   "id": "b3b31473-563c-412b-8304-e748d3a65907",
+   "segment": "segment1",
+   "action": "D40",
+   "quality": "valid",
+   "start_s": 37.16,
+   "end_s": 69.929,
+   "t_start": 37.1989,
+   "t_end": 69.9679,
+   "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D40/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8efc0144310ec6f38d0fe9d47a752705f57349d7
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,251 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.384
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3649,
+   "gate_fail": [],
+   "held_out_px_after": 0.743,
+   "held_out_px_before": 2.94,
+   "inliers": 1285,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2867,
+    -0.2235,
+    0.0317
+   ],
+   "split_deg": 0.1319,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.394,
+   "gate_fail": [],
+   "held_out_px_after": 0.401,
+   "held_out_px_before": 4.125,
+   "inliers": 3762,
+   "position_fitted": true,
+   "position_mm": [
+    4.56,
+    -8.6,
+    3.91
+   ],
+   "position_sigma_mm": 0.237,
+   "position_split_mm": 1.229,
+   "rotvec_deg": [
+    0.3758,
+    0.4921,
+    -1.2489
+   ],
+   "split_deg": 0.0436,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4455,
+   "gate_fail": [],
+   "held_out_px_after": 0.492,
+   "held_out_px_before": 4.837,
+   "inliers": 2866,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2457,
+    -0.2265,
+    0.6976
+   ],
+   "split_deg": 0.0365,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 2.867,
+   "inliers": 3841,
+   "position_fitted": true,
+   "position_mm": [
+    10.21,
+    -10.17,
+    4.75
+   ],
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_eye": 38.587,
+  "right_front": 44.326
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+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D40/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0e2914db0af278cfa654622a1030c909e1fa437d
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 426763
diff --git a/actions/locomotion_posture_dynamics/D40/session_002/meta.json b/actions/locomotion_posture_dynamics/D40/session_002/meta.json
index 3b30029515a810615fd3a07a1ad83864ff3ff4e2..79356d9ea0b4a5d7673d6e01423bb4f019dd8986 100644
--- a/actions/locomotion_posture_dynamics/D40/session_002/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_002/meta.json
@@ -342,8 +342,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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     "left": {
@@ -537,10 +537,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4431883080050132
  },
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+    "accepted": 1484,
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+      "tier": "primary",
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+     "interpolated": 1242,
+     "mean_hand": 1644,
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+  "cameras_used": [
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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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+ },
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   "family": "locomotion_posture_dynamics",
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   "source_session": "20260907/D40/20260907_083842_session164"
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D40/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D40/session_002/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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diff --git a/actions/locomotion_posture_dynamics/D40/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_002/motions/smplx.npz
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+++ b/actions/locomotion_posture_dynamics/D40/session_002/motions/smplx.npz
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diff --git a/actions/locomotion_posture_dynamics/D40/session_003/annotations.json b/actions/locomotion_posture_dynamics/D40/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6681cba3e79dc230051db6e2953ce04da55f410
--- /dev/null
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@@ -0,0 +1,39 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  },
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+   "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D40/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c2648a1e948f8c9e4d01d932d5952138ac7d5c7
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
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+ },
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diff --git a/actions/locomotion_posture_dynamics/D40/session_003/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_003/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D40/session_003/meta.json b/actions/locomotion_posture_dynamics/D40/session_003/meta.json
index 08b5b3f16fa91f61459fa49cde0f9d9d7fb1ddbc..e5582ba4a32a73cc941cbe9841607fa66261ac2c 100644
--- a/actions/locomotion_posture_dynamics/D40/session_003/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_003/meta.json
@@ -327,8 +327,8 @@
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@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_004/annotations.json
@@ -0,0 +1,39 @@
+{
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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": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+   "video": "left_eye",
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D40/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4137e182dfa2620875104ee12159e87465336d6a
--- /dev/null
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@@ -0,0 +1,251 @@
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+}
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diff --git a/actions/locomotion_posture_dynamics/D40/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_004/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -525,10 +525,124 @@
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+ },
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   "family": "locomotion_posture_dynamics",
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   "source_session": "20260909/D40/20260909_072455_session112"
+ },
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+  "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D40/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D40/session_004/motions/hands_mano.npz
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index 0000000000000000000000000000000000000000..cb524e7fb5c266b49bb8f3aca37c7853bf240738
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D40/session_004/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_004/motions/smplx.npz
index cd78f84431abbcd6d034ae29067885e923a639b0..af69bba9b91785d5acb48aa03da8aaf509c8eb14 100644
--- a/actions/locomotion_posture_dynamics/D40/session_004/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D40/session_004/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..fde536df226c19493fb4af9234577f4e2308f4fd
--- /dev/null
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@@ -0,0 +1,39 @@
+{
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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": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  }
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+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_005/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_005/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D40/session_005/meta.json b/actions/locomotion_posture_dynamics/D40/session_005/meta.json
index a97bcc064301d3898a5f9da35768f6f0e651770e..30a8d9c4e1b5a8116ef39c556c84e74bfba68a10 100644
--- a/actions/locomotion_posture_dynamics/D40/session_005/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_005/meta.json
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   "hands": {
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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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@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8659305940512335
  },
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  }
 }
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D40/session_006/cameras/gsi_online_calibration.json
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+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D40/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a640473c020e7645fa5f246780a1ee90fb05168
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D40/session_006/meta.json b/actions/locomotion_posture_dynamics/D40/session_006/meta.json
index 47984b317bce0e0c92863d21987ee0b07cc56c5e..9dd446879335674c6dbd1517823cbf2f377f239d 100644
--- a/actions/locomotion_posture_dynamics/D40/session_006/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_006/meta.json
@@ -328,8 +328,8 @@
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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",
    "hand_marker_offsets_m": {
     "left": {
@@ -560,10 +560,124 @@
   },
   "applied": 2
  },
+ "hands_registration": {
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+     0.1401,
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+  "cameras_used": [
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+  "wrist_flip_suspect": []
+ },
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   "family": "locomotion_posture_dynamics",
   "primitive": "D40",
   "source_session": "20260916/D40/20260916_051302_session77"
+ },
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+  "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D40/session_006/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D40/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05683734b81bb4c21bd957518551b91719b35d5d
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D40/session_006/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_006/motions/smplx.npz
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--- a/actions/locomotion_posture_dynamics/D40/session_006/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D40/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..2a65e79001888ccddb6a138aa3226d32c25c1205
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_007/annotations.json
@@ -0,0 +1,39 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  },
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+   "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_007/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_007/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D40/session_007/meta.json b/actions/locomotion_posture_dynamics/D40/session_007/meta.json
index fe0d302839b323d5d5214b7272b77eaafa9dcb07..89149f879fcffe18be4c6d4c851e00c70335ba5b 100644
--- a/actions/locomotion_posture_dynamics/D40/session_007/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_007/meta.json
@@ -326,8 +326,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4739514856191525
  },
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+ },
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+  "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D40/session_007/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D40/session_007/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,39 @@
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+ "primitive": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  },
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D40/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a8f4902da053eb4005ae5bfde5511611ff944b
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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 }
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new file mode 100644
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+ "primitive": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  },
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+   "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_010/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b68e375a48c7f34d36bba273ea62dc5ca38a956
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 455366
diff --git a/actions/locomotion_posture_dynamics/D40/session_010/meta.json b/actions/locomotion_posture_dynamics/D40/session_010/meta.json
index c312145ad2b5c207b09e16e312f4e24441b27f52..fdee47d30d82b0f0734104553a4a5f5a642a5240 100644
--- a/actions/locomotion_posture_dynamics/D40/session_010/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_010/meta.json
@@ -516,5 +516,9 @@
   "family": "locomotion_posture_dynamics",
   "primitive": "D40",
   "source_session": "20261008/D40/20261008_070212_session91"
+ },
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+  "primitive": "D40",
+  "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D40/session_010/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D40/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f2aa6c8fd6cd39623783ce0a7a345d2d8ea5b447
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D40/session_011/annotations.json b/actions/locomotion_posture_dynamics/D40/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..47f443448c39548132f95ae93cc579f4b2a2afc6
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_011/annotations.json
@@ -0,0 +1,39 @@
+{
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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": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  },
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+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_011/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_011/cameras/slam.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D40/session_011/meta.json b/actions/locomotion_posture_dynamics/D40/session_011/meta.json
index f3512b2030d534b6a93e905b05616c0bf35943d4..74ae86f580f3e23935aa3e9fb6fc489d2a27d4e3 100644
--- a/actions/locomotion_posture_dynamics/D40/session_011/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_011/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4489088551490201
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   "family": "locomotion_posture_dynamics",
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   "source_session": "20261013/D40/20261013_073206_session117"
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  }
 }
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--- /dev/null
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+ "primitive": "D40",
+ "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush.",
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D40/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..be5f0bc20764bae65d9c70775ca25076b8b3abdd
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D40/session_012/cameras/slam.npz b/actions/locomotion_posture_dynamics/D40/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..248ed8db3dbafe7326c50290ca09ec0408d188fd
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31505cecc9675ce7759f8ec61a781487442eeac394189e29e57582b996c9e500
+size 389299
diff --git a/actions/locomotion_posture_dynamics/D40/session_012/meta.json b/actions/locomotion_posture_dynamics/D40/session_012/meta.json
index 0737cc665c5fccb495ff8fc67f2bd4d339c3f857..18ff09882c66e4f31b005255233eeb688581786e 100644
--- a/actions/locomotion_posture_dynamics/D40/session_012/meta.json
+++ b/actions/locomotion_posture_dynamics/D40/session_012/meta.json
@@ -363,8 +363,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -512,10 +512,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "p90": 134.7
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+    "accepted": 1019,
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+     "no_body_fit": 0
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+     }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:37:08.051573+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_posture_dynamics/D40/session_012",
   "family": "locomotion_posture_dynamics",
   "primitive": "D40",
   "source_session": "20261019/D40/20261019_015221_session15"
+ },
+ "task": {
+  "primitive": "D40",
+  "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D40/session_012/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D40/session_012/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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diff --git a/actions/locomotion_posture_dynamics/D40/session_012/motions/smplx.npz b/actions/locomotion_posture_dynamics/D40/session_012/motions/smplx.npz
index f9396f2806d39de31215317fcf5351c0b7bde660..318ef48e97a885e7f8513f450f0a69661fe773e7 100644
--- a/actions/locomotion_posture_dynamics/D40/session_012/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D40/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D40/session_013/cameras/poses.npz b/actions/locomotion_posture_dynamics/D40/session_013/cameras/poses.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
index 0000000000000000000000000000000000000000..db7dcd11ab8d3f27c895fffa88eed01f616afa87
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_013/meta.json
@@ -0,0 +1,517 @@
+{
+ "schema_version": 1,
+ "session": "EgoMotionActions/20261027/D40/20261027_112322_session55",
+ "session_id": "20261027_112322_session55",
+ "primitive": "D40",
+ "batch": "20261027",
+ "participant": "gaoziyue",
+ "participant_source": "manifest",
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+  "left": "cc5681142208e29a",
+  "right": "a85418f7d807dff9"
+ },
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+ "generated_by": "scripts/sync_dataset.py",
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+  "model": "offset (median of windows)",
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+   "generated_at_utc": "2026-10-29T06:01:54.392309+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
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+  "family": "locomotion_posture_dynamics",
+  "primitive": "D40",
+  "source_session": "20261027/D40/20261027_112322_session55"
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+  "instruction": "Act out everyday actions without any objects, as in charades: opening a door, drinking, reading, brushing your hair. Repeat the movement at your own pace until the operator says stop; do not rush."
+ }
+}
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+  "collection_site": {
+    "id": "site_01",
+    "assignment_method": "env",
+    "catalog": "collection_sites.json"
+  }
+}
diff --git a/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.bvh b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.bvh
new file mode 100644
index 0000000000000000000000000000000000000000..d8eb36ee44458793df029b9d23d8b6fd2fa6e57b
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.bvh
@@ -0,0 +1,8223 @@
+HIERARCHY
+ROOT Hips
+{
+	OFFSET 25.8661 85.5852 22.4482
+	CHANNELS 6 Xposition Yposition Zposition Zrotation Xrotation Yrotation
+	JOINT Spine
+	{
+		OFFSET 0 9.86333 -1.17009
+		CHANNELS 3 Zrotation Xrotation Yrotation
+		JOINT Spine1
+		{
+			OFFSET 0 9.86333 0
+			CHANNELS 3 Zrotation Xrotation Yrotation
+			JOINT Spine2
+			{
+				OFFSET 0 9.86333 0
+				CHANNELS 3 Zrotation Xrotation Yrotation
+				JOINT Spine3
+				{
+					OFFSET 0 9.86333 0
+					CHANNELS 3 Zrotation Xrotation Yrotation
+					JOINT LeftShoulder
+					{
+						OFFSET 1.5 1.24207 0
+						CHANNELS 3 Zrotation Xrotation Yrotation
+						JOINT LeftArm
+						{
+							OFFSET 13.8341 0 0
+							CHANNELS 3 Zrotation Xrotation Yrotation
+							JOINT LeftForeArm
+							{
+								OFFSET 25.1474 0 0
+								CHANNELS 3 Zrotation Xrotation Yrotation
+								JOINT LeftHand
+								{
+									OFFSET 18.8318 0 0
+									CHANNELS 3 Zrotation Xrotation Yrotation
+									End Site
+									{
+										OFFSET 10 0 0
+									}
+								}
+							}
+						}
+					}
+					JOINT RightShoulder
+					{
+						OFFSET -1.49999 1.24207 0
+						CHANNELS 3 Zrotation Xrotation Yrotation
+						JOINT RightArm
+						{
+							OFFSET -13.8341 0 0
+							CHANNELS 3 Zrotation Xrotation Yrotation
+							JOINT RightForeArm
+							{
+								OFFSET -25.1474 0 0
+								CHANNELS 3 Zrotation Xrotation Yrotation
+								JOINT RightHand
+								{
+									OFFSET -18.8318 0 0
+									CHANNELS 3 Zrotation Xrotation Yrotation
+									End Site
+									{
+										OFFSET -10 0 0
+									}
+								}
+							}
+						}
+					}
+					JOINT Neck
+					{
+						OFFSET 0 9.86333 0
+						CHANNELS 3 Zrotation Xrotation Yrotation
+						JOINT Head
+						{
+							OFFSET 0 9.11421 0
+							CHANNELS 3 Zrotation Xrotation Yrotation
+							End Site
+							{
+								OFFSET 0 15 0
+							}
+						}
+					}
+				}
+			}
+		}
+	}
+	JOINT LeftUpLeg
+	{
+		OFFSET 12.821 0 0
+		CHANNELS 3 Zrotation Xrotation Yrotation
+		JOINT LeftLeg
+		{
+			OFFSET 0 -41.4032 0
+			CHANNELS 3 Zrotation Xrotation Yrotation
+			JOINT LeftFoot
+			{
+				OFFSET 0 -39.1464 0
+				CHANNELS 3 Zrotation Xrotation Yrotation
+				JOINT LeftToeBase
+				{
+					OFFSET 0 -4.94999 15.0173
+					CHANNELS 3 Zrotation Xrotation Yrotation
+					End Site
+					{
+						OFFSET 0 0 5
+					}
+				}
+			}
+		}
+	}
+	JOINT RightUpLeg
+	{
+		OFFSET -12.821 0 0
+		CHANNELS 3 Zrotation Xrotation Yrotation
+		JOINT RightLeg
+		{
+			OFFSET 0 -41.4032 0
+			CHANNELS 3 Zrotation Xrotation Yrotation
+			JOINT RightFoot
+			{
+				OFFSET 0 -39.1464 0
+				CHANNELS 3 Zrotation Xrotation Yrotation
+				JOINT RightToeBase
+				{
+					OFFSET 0 -4.94999 15.0173
+					CHANNELS 3 Zrotation Xrotation Yrotation
+					End Site
+					{
+						OFFSET 0 0 5
+					}
+				}
+			}
+		}
+	}
+}
+MOTION
+Frames: 8084
+Frame Time: 0.00833333
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+25.2801 85.6797 18.5305 0.220721 -3.92026 5.3264 0.365327 0.59217 2.57932 0.525676 0.882736 3.84998 0.0689008 1.79813 0.128566 0.0689008 1.79813 0.128566 6.08847 -0.256648 1.82865 100.918 167.561 169.848 178.495 155.61 172.738 172.685 -175.43 -167.249 168.148 -177.399 178.344 55.0711 13.7496 39.8149 163.412 -163.996 -79.2405 1.42604 -12.69 -22.2228 1.4428 -3.62636 -8.62696 0.0358553 0.533015 0.0811221 0.420189 -0.470292 -1.68277 0.194419 19.3675 1.07741 178.158 -164.705 173.427 1.15001 0.0590388 1.14055 179.746 177.275 175.391 0.400002 16.2041 1.32888 179.082 -164.973 158.506 1.15861 -1.2858 1.1593
+25.2768 85.6788 18.5447 0.222933 -3.92284 5.31075 0.363599 0.584883 2.58452 0.523299 0.871869 3.85773 0.0655938 1.79607 0.131255 0.0655938 1.79607 0.131255 6.10205 -0.246753 1.82865 100.894 167.578 169.917 178.478 155.532 172.809 172.712 -175.347 -167.317 168.148 -177.41 178.344 55.0833 13.7514 39.7774 163.462 -164.048 -79.1869 1.40093 -12.6234 -22.2958 1.45475 -3.59713 -8.58902 0.0360078 0.530925 0.0809095 0.418857 -0.45104 -1.68183 0.194598 19.3586 1.07735 178.163 -164.703 173.444 1.15016 0.0511532 1.14055 179.746 177.264 175.397 0.400026 16.203 1.32888 179.088 -164.953 158.525 1.15832 -1.27143 1.15929
+25.2729 85.678 18.5579 0.222421 -3.92446 5.29882 0.362744 0.576675 2.58587 0.522285 0.859633 3.85975 0.06395 1.79546 0.133945 0.06395 1.79546 0.133945 6.106 -0.238625 1.82865 100.878 167.587 169.974 178.454 155.462 172.9 172.749 -175.27 -167.394 168.14 -177.419 178.344 55.0997 13.7606 39.745 163.467 -164.081 -79.1656 1.40308 -12.5825 -22.3472 1.4695 -3.56671 -8.58365 0.0350715 0.530847 0.0806861 0.422511 -0.436555 -1.68044 0.194664 19.3552 1.07733 178.167 -164.694 173.453 1.15011 0.0539927 1.14055 179.747 177.254 175.393 0.400048 16.2022 1.32887 179.087 -164.947 158.536 1.15833 -1.27162 1.15929
+25.2683 85.6775 18.5725 0.225479 -3.93494 5.2858 0.359416 0.57358 2.58365 0.517436 0.85502 3.85643 0.0593049 1.79473 0.140369 0.0593049 1.79473 0.140369 6.12979 -0.226739 1.82865 100.85 167.614 170.039 178.458 155.461 172.903 172.688 -175.283 -167.326 168.146 -177.43 178.344 55.1172 13.7495 39.7205 163.496 -164.13 -79.1408 1.41008 -12.5307 -22.4063 1.49593 -3.54134 -8.57286 0.0339645 0.531257 0.0805064 0.424422 -0.413075 -1.6729 0.194694 19.3537 1.07732 178.15 -164.684 173.455 1.14945 0.0870948 1.14055 179.748 177.235 175.4 0.400058 16.2018 1.32887 179.078 -164.941 158.538 1.15813 -1.26173 1.15929
+25.264 85.6771 18.5851 0.226621 -3.93977 5.27534 0.35733 0.568377 2.58236 0.514505 0.847265 3.85449 0.0551356 1.79183 0.142902 0.0551356 1.79183 0.142902 6.14966 -0.216956 1.82864 100.823 167.637 170.104 178.457 155.459 172.913 172.666 -175.271 -167.263 168.146 -177.439 178.344 55.1142 13.7622 39.6969 163.519 -164.16 -79.1261 1.3748 -12.4844 -22.4788 1.52007 -3.50991 -8.56367 0.0332377 0.531191 0.0803333 0.425061 -0.397401 -1.67666 0.194725 19.3522 1.07731 178.174 -164.678 173.475 1.1493 0.0946446 1.14055 179.748 177.224 175.391 0.400067 16.2014 1.32886 179.085 -164.94 158.556 1.15841 -1.27561 1.15929
+25.2589 85.6765 18.5956 0.227832 -3.93724 5.25998 0.349958 0.560776 2.57739 0.50379 0.835938 3.84707 0.0497288 1.78937 0.151727 0.0497288 1.78937 0.151727 6.18446 -0.211302 1.82864 100.793 167.606 170.157 178.467 155.519 172.947 172.624 -175.274 -167.221 168.168 -177.449 178.344 55.1011 13.763 39.6774 163.555 -164.181 -79.112 1.35565 -12.4868 -22.5411 1.57419 -3.48255 -8.55071 0.0305102 0.5318 0.079798 0.426567 -0.390457 -1.66784 0.194745 19.3512 1.0773 178.173 -164.679 173.482 1.14977 0.0711393 1.14055 179.749 177.222 175.396 0.400081 16.2008 1.32886 179.083 -164.935 158.569 1.15814 -1.26265 1.15929
+25.254 85.6754 18.6077 0.229458 -3.93879 5.24857 0.347718 0.552774 2.57448 0.500732 0.824013 3.84272 0.0487248 1.78962 0.15595 0.0487248 1.78962 0.15595 6.18072 -0.204251 1.82864 100.795 167.596 170.199 178.446 155.468 173.029 172.643 -175.227 -167.316 168.154 -177.455 178.344 55.1235 13.7493 39.6556 163.565 -164.231 -79.1046 1.32604 -12.4977 -22.5885 1.58448 -3.44939 -8.54897 0.030379 0.531763 0.0797478 0.428908 -0.376723 -1.66091 0.19479 19.3489 1.07729 178.165 -164.672 173.478 1.1496 0.0792098 1.14055 179.749 177.213 175.394 0.400084 16.2007 1.32886 179.072 -164.931 158.575 1.15808 -1.25932 1.15929
+25.2492 85.6746 18.6195 0.231157 -3.93625 5.23563 0.345983 0.544762 2.57425 0.498408 0.81207 3.84238 0.0450727 1.78085 0.158937 0.0450727 1.78085 0.158937 6.19105 -0.190647 1.82864 100.784 167.614 170.257 178.444 155.473 173.028 172.619 -175.201 -167.265 168.144 -177.463 178.344 55.1336 13.7692 39.6276 163.563 -164.241 -79.1109 1.31285 -12.5022 -22.6368 1.60252 -3.40081 -8.53806 0.0301193 0.531905 0.082134 0.430171 -0.366857 -1.65355 0.19487 19.3449 1.07726 178.16 -164.666 173.484 1.14941 0.0891141 1.14055 179.748 177.208 175.379 0.400103 16.1999 1.32885 179.054 -164.931 158.591 1.15796 -1.25374 1.15928
+25.2438 85.6737 18.6311 0.231228 -3.9343 5.22574 0.349117 0.535982 2.58164 0.503325 0.798976 3.85341 0.0457859 1.77299 0.152362 0.0457859 1.77299 0.152362 6.17288 -0.174464 1.82864 100.797 167.628 170.29 178.417 155.523 173.055 172.595 -175.193 -167.204 168.108 -177.472 178.344 55.165 13.7772 39.5984 163.566 -164.269 -79.1052 1.27734 -12.4965 -22.723 1.57836 -3.34296 -8.55205 0.0322544 0.529783 0.0798997 0.434954 -0.360945 -1.64758 0.19482 19.3474 1.07728 178.145 -164.661 173.481 1.14943 0.0879641 1.14055 179.75 177.204 175.38 0.400103 16.1999 1.32885 179.051 -164.928 158.598 1.15789 -1.25023 1.15928
+25.2375 85.6731 18.6422 0.230192 -3.93653 5.21246 0.34591 0.530019 2.57987 0.498748 0.790088 3.85076 0.0420711 1.76757 0.154633 0.0420711 1.76757 0.154633 6.18248 -0.160096 1.82864 100.792 167.661 170.328 178.401 155.427 173.113 172.615 -175.137 -167.282 168.109 -177.481 178.344 55.1821 13.7524 39.5733 163.584 -164.322 -79.096 1.24854 -12.4461 -22.7884 1.60668 -3.30034 -8.56024 0.0317246 0.529234 0.0797101 0.440098 -0.347788 -1.64163 0.194881 19.3443 1.07726 178.137 -164.653 173.487 1.14965 0.0768543 1.14055 179.756 177.197 175.39 0.40011 16.1996 1.32885 179.043 -164.922 158.595 1.15802 -1.25668 1.15929
+25.2307 85.6724 18.6519 0.2292 -3.93154 5.19871 0.340913 0.517994 2.57601 0.491713 0.772166 3.84499 0.0424332 1.77373 0.159411 0.0424332 1.77373 0.159411 6.18539 -0.167273 1.82864 100.793 167.644 170.362 178.391 155.419 173.175 172.621 -175.089 -167.352 168.105 -177.48 178.344 55.1857 13.7336 39.5554 163.601 -164.358 -79.0925 1.21905 -12.4096 -22.8548 1.63124 -3.27642 -8.56142 0.0305268 0.529702 0.079524 0.444327 -0.344466 -1.63765 0.194883 19.3442 1.07726 178.152 -164.652 173.498 1.14991 0.0638439 1.14055 179.76 177.197 175.395 0.400107 16.1997 1.32885 179.034 -164.924 158.61 1.15834 -1.27242 1.15929
+25.2233 85.6715 18.6601 0.227604 -3.91877 5.18595 0.337418 0.505735 2.57715 0.486895 0.75389 3.84668 0.0427728 1.76832 0.159881 0.0427728 1.76832 0.159881 6.18441 -0.161289 1.82864 100.793 167.677 170.403 178.38 155.351 173.21 172.622 -175.059 -167.404 168.092 -177.485 178.344 55.1971 13.7328 39.5273 163.559 -164.361 -79.1048 1.20491 -12.4609 -22.9083 1.64302 -3.23254 -8.57728 0.0299986 0.528252 0.0790719 0.447763 -0.353488 -1.64554 0.194758 19.3505 1.0773 178.147 -164.648 173.52 1.15008 0.0555869 1.14055 179.764 177.206 175.397 0.400103 16.1999 1.32885 179.026 -164.921 158.622 1.15821 -1.26567 1.15929
+25.2163 85.6709 18.6685 0.225336 -3.91126 5.17334 0.333998 0.496321 2.57262 0.48213 0.739861 3.83991 0.0343454 1.76528 0.16612 0.0343454 1.76528 0.16612 6.2036 -0.158209 1.82864 100.791 167.668 170.429 178.373 155.365 173.26 172.667 -175.015 -167.45 168.107 -177.492 178.344 55.1879 13.7248 39.5075 163.547 -164.366 -79.111 1.19536 -12.4655 -22.9607 1.68838 -3.20038 -8.58917 0.0294842 0.528112 0.07811 0.452814 -0.355311 -1.6454 0.194695 19.3536 1.07732 178.16 -164.642 173.54 1.15018 0.0503693 1.14055 179.768 177.21 175.391 0.400106 16.1997 1.32885 179.025 -164.915 158.639 1.15804 -1.25765 1.15929
+25.2089 85.6701 18.6761 0.223404 -3.90601 5.16186 0.32766 0.489782 2.56585 0.472929 0.730118 3.8298 0.0271553 1.76181 0.174271 0.0271553 1.76181 0.174271 6.24944 -0.152204 1.82864 100.759 167.637 170.463 178.429 155.339 173.222 172.62 -174.892 -167.39 168.125 -177.501 178.344 55.1914 13.6794 39.4824 163.58 -164.418 -79.0896 1.17955 -12.4183 -23.0137 1.7462 -3.17708 -8.59149 0.026304 0.527643 0.0783261 0.456969 -0.354034 -1.65274 0.194706 19.3531 1.07732 178.156 -164.64 173.554 1.1502 0.049178 1.14055 179.774 177.212 175.403 0.400107 16.1997 1.32885 179.023 -164.911 158.633 1.15795 -1.25305 1.15928
+25.2008 85.6695 18.683 0.2228 -3.89919 5.14781 0.327184 0.480458 2.56713 0.472517 0.716217 3.8317 0.0218611 1.76119 0.175427 0.0218611 1.76119 0.175427 6.26313 -0.142513 1.82864 100.758 167.655 170.485 178.461 155.283 173.179 172.585 -174.778 -167.34 168.117 -177.5 178.344 55.1899 13.6853 39.4599 163.582 -164.41 -79.0984 1.18196 -12.4566 -23.0451 1.75479 -3.14801 -8.61518 0.0265868 0.526915 0.0782618 0.460348 -0.358615 -1.6567 0.194543 19.3613 1.07737 178.153 -164.63 173.573 1.1501 0.0544331 1.14055 179.779 177.217 175.415 0.40011 16.1996 1.32885 179.024 -164.906 158.636 1.15812 -1.26133 1.15929
+25.1924 85.6683 18.6911 0.221926 -3.89754 5.13881 0.323508 0.474993 2.56524 0.467222 0.708072 3.82888 0.0194451 1.75709 0.175775 0.0194451 1.75709 0.175775 6.28401 -0.137054 1.82864 100.744 167.685 170.516 178.494 155.23 173.139 172.551 -174.702 -167.302 168.11 -177.505 178.344 55.1761 13.7031 39.4407 163.611 -164.382 -79.1019 1.19366 -12.5103 -23.0633 1.77084 -3.11854 -8.63563 0.0269535 0.52639 0.0782781 0.4662 -0.357919 -1.65217 0.194318 19.3726 1.07744 178.161 -164.621 173.576 1.15051 0.0335976 1.14055 179.782 177.214 175.404 0.400119 16.1992 1.32885 179.026 -164.897 158.656 1.15827 -1.26892 1.15929
+25.1849 85.6678 18.6987 0.220356 -3.8965 5.12802 0.323746 0.468149 2.56493 0.467804 0.697869 3.82842 0.0156893 1.75781 0.177104 0.0156893 1.75781 0.177104 6.28533 -0.135038 1.82864 100.754 167.684 170.525 178.517 155.235 173.12 172.502 -174.69 -167.275 168.094 -177.505 178.344 55.1714 13.7062 39.4164 163.657 -164.38 -79.0949 1.18859 -12.5202 -23.0797 1.77741 -3.09277 -8.65304 0.0272384 0.526086 0.0745296 0.471981 -0.354243 -1.64999 0.194213 19.3779 1.07748 178.164 -164.613 173.581 1.15053 0.0325009 1.14055 179.787 177.211 175.395 0.40012 16.1992 1.32885 179.038 -164.88 158.685 1.15796 -1.25337 1.15928
+25.1755 85.6668 18.7063 0.216617 -3.89703 5.12094 0.318825 0.464881 2.55884 0.460603 0.693002 3.81932 0.0134802 1.75558 0.180789 0.0134802 1.75558 0.180789 6.30083 -0.136265 1.82864 100.752 167.697 170.547 178.529 155.34 173.091 172.472 -174.816 -167.217 168.091 -177.513 178.345 55.1262 13.7446 39.4075 163.697 -164.318 -79.1035 1.18491 -12.5556 -23.0822 1.81016 -3.07803 -8.66742 0.0266562 0.525154 0.078048 0.479153 -0.350502 -1.66149 0.19409 19.384 1.07752 178.17 -164.605 173.603 1.15068 0.0251327 1.14055 179.797 177.207 175.396 0.400113 16.1995 1.32885 179.039 -164.875 158.688 1.15777 -1.24437 1.15928
+25.1665 85.6661 18.7143 0.214761 -3.90257 5.11348 0.313867 0.464926 2.55702 0.453213 0.69307 3.81661 0.01299 1.74959 0.180376 0.01299 1.74959 0.180376 6.30908 -0.128574 1.82864 100.759 167.682 170.549 178.532 155.494 173.081 172.484 -174.912 -167.163 168.085 -177.525 178.345 55.1003 13.7528 39.3928 163.749 -164.3 -79.0954 1.17621 -12.5339 -23.1002 1.83432 -3.05821 -8.68317 0.0263561 0.524137 0.0778304 0.4863 -0.340465 -1.6676 0.194003 19.3884 1.07755 178.165 -164.598 173.61 1.15053 0.0329262 1.14055 179.803 177.198 175.382 0.400119 16.1992 1.32885 179.033 -164.873 158.704 1.15783 -1.24722 1.15928
+25.1582 85.6654 18.7215 0.215918 -3.90583 5.1057 0.3111 0.462187 2.55715 0.449172 0.688987 3.81679 0.00785494 1.74929 0.178733 0.00785494 1.74929 0.178733 6.31475 -0.116889 1.82863 100.775 167.696 170.532 178.534 155.558 173.077 172.502 -174.932 -167.14 168.073 -177.526 178.345 55.0932 13.7539 39.3715 163.775 -164.292 -79.0921 1.15837 -12.5326 -23.1257 1.85495 -3.04339 -8.70033 0.0268471 0.522623 0.0775606 0.490806 -0.333349 -1.66884 0.193931 19.392 1.07757 178.146 -164.593 173.616 1.15031 0.0438004 1.14055 179.806 177.191 175.367 0.400141 16.1983 1.32884 179.024 -164.871 158.723 1.15794 -1.2523 1.15928
+25.1494 85.6643 18.7297 0.215553 -3.91169 5.10164 0.30767 0.46136 2.55752 0.444077 0.687755 3.81735 0.0070423 1.74741 0.174699 0.0070423 1.74741 0.174699 6.30709 -0.110315 1.82863 100.799 167.705 170.516 178.53 155.556 173.11 172.531 -174.953 -167.205 168.057 -177.528 178.345 55.0814 13.7504 39.3496 163.768 -164.285 -79.0919 1.14014 -12.5214 -23.1466 1.86772 -3.03391 -8.71472 0.0275544 0.522194 0.0744628 0.495817 -0.324516 -1.67974 0.193805 19.3983 1.07761 178.146 -164.587 173.63 1.15044 0.0372089 1.14055 179.811 177.181 175.362 0.400145 16.1981 1.32884 179.023 -164.87 158.736 1.15815 -1.26313 1.15929
+25.1401 85.6636 18.7376 0.215776 -3.92237 5.09637 0.296202 0.464663 2.54982 0.426898 0.692683 3.80585 0.00794414 1.74516 0.177862 0.00794414 1.74516 0.177862 6.32706 -0.0982787 1.82863 100.793 167.726 170.506 178.564 155.504 173.101 172.555 -174.912 -167.266 168.071 -177.542 178.345 55.0315 13.7381 39.346 163.795 -164.273 -79.0823 1.12176 -12.4763 -23.1713 1.9212 -3.03446 -8.71491 0.0257647 0.520957 0.0772061 0.50307 -0.307615 -1.68306 0.193813 19.3979 1.07761 178.133 -164.582 173.634 1.15025 0.0468474 1.14055 179.817 177.165 175.353 0.400165 16.1973 1.32884 179.02 -164.863 158.746 1.15809 -1.25976 1.15929
+25.1318 85.663 18.7452 0.213625 -3.93233 5.09479 0.291489 0.467716 2.54669 0.419783 0.697237 3.80118 0.010599 1.74136 0.174537 0.010599 1.74136 0.174537 6.32346 -0.091577 1.82863 100.8 167.74 170.485 178.576 155.519 173.122 172.596 -174.908 -167.321 168.06 -177.546 178.345 55.0011 13.7279 39.3306 163.754 -164.261 -79.0822 1.11432 -12.4762 -23.197 1.93714 -3.02952 -8.72043 0.0260639 0.520206 0.0758318 0.509346 -0.295162 -1.69923 0.193704 19.4034 1.07765 178.146 -164.58 173.65 1.15058 0.030477 1.14055 179.826 177.15 175.343 0.400157 16.1976 1.32884 179.017 -164.848 158.76 1.15784 -1.24749 1.15928
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+22.5469 85.7394 17.9408 178.756 -176.409 175.142 0.880185 0.462425 -1.00602 1.31968 0.690055 -1.50158 1.3796 2.39357 -2.48741 1.3796 2.39357 -2.48741 12.679 -4.07352 1.83326 108.123 161.187 128.464 53.5277 35.7389 -100.791 175.26 161.191 -150.06 170.404 -177.048 178.344 74.5504 32.1733 21.9323 18.2101 -20.9152 82.4705 161.916 -152.14 144.737 0.430466 -1.99675 -4.54056 179.934 179.076 -179.888 2.68611 0.831713 1.45281 0.201116 19.0309 1.07521 177.232 -163.816 -179.955 1.14594 0.26337 1.14056 1.9751 0.53228 -1.16449 0.400103 16.1999 1.32885 177.94 -166.775 164.713 1.15579 -1.14649 1.15924
+22.5244 85.739 17.9325 178.755 -176.424 175.136 0.886032 0.455657 -1.00795 1.32833 0.679955 -1.50446 1.38203 2.39506 -2.49371 1.38203 2.39506 -2.49371 12.7201 -4.07638 1.83327 108.067 161.179 128.489 53.5335 35.7839 -100.838 175.278 161.207 -150.065 170.408 -177.049 178.344 74.5676 32.207 21.9039 18.2078 -20.9152 82.447 161.754 -152.106 144.627 0.419696 -1.99873 -4.53327 179.933 179.077 -179.888 2.70488 0.812508 1.45698 0.201053 19.0341 1.07523 177.209 -163.812 -179.958 1.14549 0.285963 1.14056 1.99271 0.511637 -1.16937 0.400091 16.2004 1.32886 177.927 -166.783 164.72 1.15594 -1.1536 1.15924
+22.5032 85.7382 17.924 178.757 -176.441 175.138 0.891604 0.447738 -1.01272 1.33657 0.668137 -1.51158 1.38414 2.39564 -2.49559 1.38414 2.39564 -2.49559 12.749 -4.07965 1.83328 108.009 161.189 128.505 53.7081 35.8442 -100.995 175.367 161.18 -150.042 170.412 -177.046 178.344 74.5896 32.2363 21.8645 18.2241 -20.9193 82.4333 161.639 -152.124 144.524 0.40368 -2.00024 -4.53049 179.934 179.076 -179.888 2.71586 0.78639 1.42697 0.20089 19.0422 1.07528 177.21 -163.809 -179.932 1.14547 0.286706 1.14056 2.00591 0.490505 -1.18745 0.400073 16.2011 1.32886 177.898 -166.784 164.729 1.15573 -1.14334 1.15924
+22.4799 85.7381 17.9147 178.756 -176.443 175.137 0.89476 0.450278 -1.01389 1.34132 0.671927 -1.51332 1.3868 2.39321 -2.49764 1.3868 2.39321 -2.49764 12.7836 -4.08985 1.8333 107.96 161.197 128.517 53.8974 35.8829 -101.161 175.445 161.182 -150.029 170.424 -177.039 178.344 74.6097 32.2531 21.8228 18.3102 -20.9292 82.4494 161.586 -152.216 144.459 0.398506 -2.00789 -4.52912 179.933 179.075 -179.888 2.73182 0.775678 1.40985 0.200741 19.0498 1.07533 177.197 -163.808 -179.922 1.14574 0.273575 1.14056 2.02539 0.481955 -1.18133 0.400073 16.2011 1.32886 177.886 -166.79 164.718 1.15582 -1.14761 1.15924
+22.456 85.7383 17.905 178.754 -176.442 175.144 0.898964 0.455055 -1.01777 1.34768 0.679055 -1.51912 1.38987 2.39147 -2.4936 1.38987 2.39147 -2.4936 12.8056 -4.10574 1.83334 107.943 161.189 128.515 53.8787 35.9002 -101.216 175.441 161.12 -149.976 170.419 -177.04 178.344 74.6467 32.266 21.7902 18.3537 -20.9455 82.4445 161.467 -152.249 144.377 0.385004 -2.02271 -4.53679 179.933 179.074 -179.888 2.74955 0.76528 1.3894 0.200563 19.0587 1.07539 177.167 -163.808 -179.916 1.14553 0.284014 1.14056 2.04359 0.478684 -1.19177 0.400074 16.2011 1.32886 177.881 -166.794 164.722 1.15596 -1.15468 1.15924
+22.4335 85.7383 17.8955 178.758 -176.444 175.154 0.901191 0.457028 -1.01879 1.35103 0.681998 -1.52065 1.39593 2.3899 -2.49206 1.39593 2.3899 -2.49206 12.8122 -4.11201 1.83335 107.919 161.202 128.502 54.0406 35.9306 -101.38 175.568 161.291 -150.064 170.406 -177.041 178.344 74.7062 32.2018 21.7445 18.3527 -20.8766 82.3857 161.373 -152.22 144.288 0.360288 -2.03241 -4.54181 179.933 179.074 -179.888 2.76075 0.752545 1.36848 0.200466 19.0636 1.07542 177.141 -163.812 -179.906 1.1458 0.270246 1.14056 2.05652 0.472889 -1.20738 0.400086 16.2006 1.32886 177.855 -166.792 164.717 1.15591 -1.15228 1.15924
+22.4112 85.7378 17.8872 178.76 -176.451 175.173 0.908551 0.452686 -1.02196 1.36198 0.675518 -1.52537 1.39849 2.39426 -2.48612 1.39849 2.39426 -2.48612 12.8158 -4.13245 1.8334 107.889 161.22 128.496 54.0618 35.9671 -101.494 175.611 161.327 -150.092 170.376 -177.054 178.344 74.777 32.1546 21.7082 18.3274 -20.8326 82.3287 161.268 -152.187 144.239 0.324189 -2.04464 -4.55158 179.935 179.074 -179.888 2.77423 0.734431 1.33629 0.200374 19.0683 1.07545 177.138 -163.819 -179.896 1.14617 0.251757 1.14056 2.07093 0.464056 -1.23263 0.400085 16.2006 1.32886 177.837 -166.798 164.726 1.15566 -1.13965 1.15924
+22.3889 85.7375 17.8805 178.762 -176.458 175.191 0.914304 0.446828 -1.02236 1.37049 0.666778 -1.52597 1.40755 2.39838 -2.48301 1.40755 2.39838 -2.48301 12.8071 -4.14727 1.83343 107.839 161.264 128.494 54.2412 36.019 -101.727 175.713 161.319 -150.029 170.339 -177.064 178.344 74.8406 32.1109 21.6762 18.3704 -20.8141 82.3082 161.227 -152.206 144.166 0.276136 -2.05305 -4.55423 179.937 179.073 -179.887 2.78773 0.717319 1.30844 0.200288 19.0726 1.07548 177.139 -163.826 -179.891 1.14656 0.232018 1.14056 2.08652 0.455547 -1.25107 0.400094 16.2003 1.32886 177.819 -166.805 164.726 1.1559 -1.1519 1.15924
+22.3661 85.7367 17.8723 178.765 -176.471 175.214 0.91781 0.437699 -1.02503 1.37562 0.653154 -1.52996 1.41301 2.39851 -2.47682 1.41301 2.39851 -2.47682 12.7956 -4.16557 1.83348 107.825 161.281 128.48 54.3639 36.0576 -101.91 175.802 161.318 -149.961 170.315 -177.072 178.344 74.8921 32.1127 21.6405 18.4252 -20.8464 82.3114 161.212 -152.289 144.093 0.245506 -2.04243 -4.55773 179.938 179.073 -179.887 2.8017 0.693043 1.27107 0.200198 19.0771 1.07551 177.119 -163.826 -179.888 1.14642 0.239319 1.14056 2.10128 0.441288 -1.27539 0.400101 16.2 1.32886 177.814 -166.81 164.725 1.15633 -1.17285 1.15925
+22.3428 85.736 17.864 178.768 -176.485 175.238 0.917262 0.428151 -1.02766 1.37469 0.638905 -1.53387 1.41289 2.39516 -2.47551 1.41289 2.39516 -2.47551 12.8154 -4.17422 1.8335 107.797 161.296 128.474 54.4779 36.0833 -102.073 175.882 161.395 -149.989 170.324 -177.085 178.344 74.9079 32.1261 21.6246 18.497 -20.8838 82.3196 161.203 -152.418 144.015 0.252693 -2.01772 -4.5421 179.937 179.073 -179.887 2.81684 0.66852 1.24508 0.200137 19.0802 1.07553 177.107 -163.833 -179.888 1.14634 0.242959 1.14056 2.11663 0.425243 -1.29506 0.400124 16.199 1.32885 177.79 -166.815 164.716 1.15625 -1.16904 1.15925
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+25.2061 85.7244 16.9721 179.148 -177.539 179.231 179.912 -179.776 -178.267 179.874 -179.666 -177.413 0.451267 1.29082 -0.586548 0.451267 1.29082 -0.586548 7.16647 1.47578 1.82924 99.8734 166.454 170.737 178.362 153.665 172.687 172.586 -173.003 -167.371 176.977 178.995 178.346 77.8405 19.351 5.68403 0.600971 10.1599 6.7895 4.55996 -9.5213 -13.3052 0.878959 -1.94056 -2.70937 179.996 179.651 -179.954 0.215184 -2.06869 -3.51063 0.190792 19.5492 1.07862 179.866 -164.249 -178.414 1.13977 0.573281 1.14061 4.64611 -1.17054 2.06611 0.400028 16.203 1.32888 176.141 -167.424 164.845 1.17996 -2.33965 1.15997
+25.1967 85.7244 16.9715 179.155 -177.53 179.262 179.908 -179.776 -178.271 179.868 -179.666 -177.419 0.455541 1.29551 -0.586793 0.455541 1.29551 -0.586793 7.16201 1.45375 1.82922 99.8566 166.437 170.734 178.387 153.62 172.645 172.588 -172.976 -167.417 176.986 178.992 178.346 77.8404 19.3057 5.69996 0.600798 10.0934 6.77025 4.55671 -9.5055 -13.3226 0.886845 -1.94949 -2.72073 179.995 179.649 -179.953 0.216037 -2.06539 -3.52845 0.190833 19.5472 1.07861 179.844 -164.259 -178.436 1.1398 0.57176 1.14061 4.65148 -1.15987 2.08681 0.400053 16.2019 1.32887 176.127 -167.425 164.792 1.18022 -2.35254 1.15998
+25.1879 85.7246 16.9704 179.162 -177.52 179.297 179.907 -179.779 -178.271 179.865 -179.67 -177.42 0.459143 1.29928 -0.591884 0.459143 1.29928 -0.591884 7.15452 1.4325 1.8292 99.8421 166.421 170.717 178.393 153.636 172.607 172.592 -173.007 -167.416 176.994 178.994 178.346 77.8457 19.2445 5.70878 0.596153 10.0322 6.75172 4.55917 -9.51286 -13.3126 0.889855 -1.95967 -2.73108 179.994 179.647 -179.953 0.217885 -2.06377 -3.544 0.190807 19.5485 1.07861 179.818 -164.268 -178.464 1.13989 0.567327 1.1406 4.65901 -1.14634 2.11089 0.400064 16.2015 1.32887 176.114 -167.421 164.732 1.18008 -2.3456 1.15998
+25.1796 85.724 16.9681 179.167 -177.513 179.331 179.905 -179.781 -178.279 179.863 -179.673 -177.432 0.457977 1.30254 -0.589936 0.457977 1.30254 -0.589936 7.16331 1.41547 1.82919 99.8199 166.394 170.701 178.402 153.638 172.564 172.606 -173.021 -167.428 177.009 178.995 178.346 77.8472 19.195 5.71996 0.59427 9.98634 6.73763 4.55214 -9.5296 -13.3103 0.909055 -1.97129 -2.73734 179.993 179.645 -179.954 0.221013 -2.06799 -3.55371 0.190665 19.5556 1.07866 179.807 -164.275 -178.49 1.13996 0.563575 1.1406 4.66373 -1.13767 2.10907 0.400068 16.2013 1.32886 176.105 -167.423 164.696 1.18001 -2.34242 1.15998
+25.171 85.7233 16.9663 179.17 -177.503 179.359 179.905 -179.783 -178.282 179.863 -179.676 -177.436 0.455662 1.30714 -0.590348 0.455662 1.30714 -0.590348 7.17121 1.40035 1.82918 99.7956 166.379 170.677 178.419 153.63 172.522 172.594 -173.029 -167.452 177.023 178.995 178.346 77.8485 19.1484 5.73229 0.590972 9.95101 6.72834 4.54717 -9.54654 -13.307 0.92313 -1.98343 -2.7468 179.993 179.644 -179.955 0.225482 -2.06339 -3.56206 0.190721 19.5528 1.07864 179.812 -164.279 -178.508 1.14006 0.558575 1.1406 4.66468 -1.12838 2.07286 0.40005 16.2021 1.32887 176.091 -167.421 164.698 1.1798 -2.33206 1.15997
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+25.1563 85.7227 16.9627 179.182 -177.481 179.403 179.907 -179.789 -178.278 179.866 -179.686 -177.43 0.456733 1.31346 -0.596105 0.456733 1.31346 -0.596105 7.14964 1.37626 1.82916 99.7669 166.377 170.609 178.442 153.49 172.442 172.572 -172.982 -167.509 177.031 179.014 178.346 77.8645 19.0816 5.73262 0.572416 9.85141 6.70851 4.53874 -9.64612 -13.2252 0.909931 -1.99661 -2.77965 179.991 179.642 -179.953 0.229327 -2.04891 -3.56785 0.190822 19.5477 1.07861 179.784 -164.291 -178.559 1.14011 0.556224 1.1406 4.66771 -1.10505 2.05911 0.400058 16.2018 1.32887 176.073 -167.417 164.656 1.17908 -2.29665 1.15994
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+20.6295 85.7241 26.2629 1.2002 0.898946 -178.372 0.28931 0.00537331 2.01083 0.431668 0.0080138 3.00124 0.43334 1.09293 -0.892061 0.43334 1.09293 -0.892061 6.88674 1.19155 1.82903 99.5696 167.696 168.898 177.663 153.721 172.692 173.198 -173.614 -167.803 172.409 179.01 178.346 78.6701 12.1875 2.34218 162.916 170.623 -147.379 177.143 -167.697 168.555 179.997 -176.32 174.602 179.95 179.707 -179.97 179.726 -177.083 177.591 0.211119 18.5255 1.07199 0.656294 -15.461 4.14238 1.1124 1.94722 1.14121 3.87814 -2.88773 -0.0885774 0.400116 16.1993 1.32885 175.49 -166.978 167.84 1.16656 -1.67851 1.1595
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+20.6407 85.7233 26.2354 1.19643 0.898556 -178.358 0.272821 0.0112722 2.01372 0.406904 0.0168114 3.00555 0.430776 1.09241 -0.887574 0.430776 1.09241 -0.887574 6.86346 1.18276 1.82902 99.6291 167.579 168.909 177.627 153.332 172.657 173.236 -173.577 -167.803 172.613 179.002 178.346 78.7317 12.1536 2.39369 163.888 170.062 -148.379 177.152 -167.793 168.655 0.0355632 -3.70805 -5.38738 179.949 179.704 -179.97 179.73 -177.093 177.547 0.210694 18.5471 1.07212 0.647038 -15.4718 4.15252 1.11223 1.95553 1.14121 3.88194 -2.86801 -0.100494 0.400085 16.2006 1.32886 175.495 -166.955 167.843 1.16654 -1.67715 1.1595
+20.642 85.7244 26.2218 1.19272 0.903167 -178.372 0.268547 0.00947108 2.01856 0.400571 0.0141252 3.01278 0.423441 1.09984 -0.884416 0.423441 1.09984 -0.884416 6.85842 1.19582 1.82903 99.6545 167.538 168.895 177.621 153.292 172.649 173.231 -173.687 -167.772 172.692 178.986 178.346 78.7432 12.1983 2.42331 164.16 169.919 -148.697 177.17 -167.818 168.663 0.0617421 -3.71601 -5.38019 179.949 179.704 -179.97 179.727 -177.109 177.538 0.210609 18.5514 1.07215 0.620011 -15.4778 4.1549 1.112 1.96752 1.14122 3.87835 -2.85515 -0.0914607 0.400067 16.2014 1.32886 175.493 -166.959 167.851 1.16687 -1.69346 1.15951
+20.6436 85.7248 26.2101 1.19165 0.902518 -178.385 0.264692 0.00868589 2.02117 0.394838 0.0129541 3.01668 0.418578 1.1015 -0.881171 0.418578 1.1015 -0.881171 6.85275 1.19522 1.82903 99.6667 167.501 168.908 177.616 153.164 172.642 173.278 -173.666 -167.786 172.772 178.963 178.346 78.7423 12.2333 2.45179 164.409 169.75 -148.992 177.208 -167.821 168.691 0.0792865 -3.72012 -5.37753 179.95 179.703 -179.97 179.726 -177.122 177.534 0.210711 18.5462 1.07212 0.640697 -15.4796 4.17108 1.11206 1.96435 1.14122 3.87684 -2.8493 -0.0974281 0.400055 16.2019 1.32887 175.504 -166.949 167.869 1.1667 -1.68526 1.15951
+20.6454 85.7228 26.1986 1.1905 0.905426 -178.397 0.261426 0.00791431 2.0262 0.389982 0.0118033 3.02418 0.415636 1.10788 -0.882501 0.415636 1.10788 -0.882501 6.84879 1.20704 1.82904 99.6796 167.466 168.901 177.602 153.092 172.644 173.303 -173.664 -167.814 172.818 178.957 178.346 78.7692 12.2809 2.4732 164.642 169.554 -149.28 177.185 -167.742 168.721 0.0868777 -3.72723 -5.37879 179.951 179.704 -179.97 179.724 -177.142 177.549 0.211066 18.5282 1.07201 0.64155 -15.4928 4.18381 1.11218 1.95811 1.14121 3.87625 -2.83985 -0.0968022 0.400064 16.2015 1.32887 175.516 -166.931 167.876 1.16658 -1.6792 1.1595
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+20.6519 85.7202 26.1749 1.19924 0.925063 -178.414 0.260917 0.0141684 2.0286 0.38906 0.0211306 3.02777 0.404066 1.11914 -0.880983 0.404066 1.11914 -0.880983 6.84833 1.21144 1.82904 99.6901 167.428 168.903 177.576 153 172.654 173.361 -173.727 -167.826 172.91 178.954 178.346 78.821 12.3647 2.50408 165.124 169.264 -149.827 177.241 -167.777 168.764 0.107048 -3.74116 -5.38427 179.951 179.705 -179.97 179.737 -177.194 177.569 0.211754 18.4934 1.07179 0.654897 -15.507 4.20394 1.11306 1.91429 1.14119 3.88835 -2.80506 -0.101034 0.400076 16.201 1.32886 175.522 -166.923 167.895 1.16698 -1.69887 1.15952
+20.6548 85.7192 26.1652 1.20438 0.924754 -178.426 0.260715 0.0129446 2.02945 0.38879 0.0193054 3.02903 0.397756 1.12584 -0.879634 0.397756 1.12584 -0.879634 6.84838 1.20597 1.82904 99.6893 167.414 168.915 177.567 153 172.656 173.378 -173.673 -167.836 172.957 178.968 178.346 78.84 12.3985 2.50223 165.342 169.077 -150.062 177.265 -167.834 168.762 0.119068 -3.75174 -5.38716 179.951 179.705 -179.97 179.743 -177.203 177.581 0.21182 18.49 1.07177 0.671331 -15.5167 4.21271 1.11317 1.90874 1.14118 3.89567 -2.80004 -0.0934505 0.400066 16.2014 1.32886 175.518 -166.921 167.901 1.16692 -1.69622 1.15952
+20.6576 85.7186 26.1543 1.20988 0.935026 -178.441 0.261157 0.0170029 2.02856 0.389345 0.0253579 3.0277 0.389722 1.13229 -0.875514 0.389722 1.13229 -0.875514 6.84975 1.20126 1.82903 99.6958 167.38 168.922 177.557 153.015 172.656 173.391 -173.635 -167.84 173.009 178.967 178.346 78.8529 12.4846 2.51165 165.544 168.962 -150.299 177.264 -167.822 168.76 0.134724 -3.76357 -5.39115 179.951 179.704 -179.97 179.75 -177.228 177.592 0.212034 18.4791 1.0717 0.666256 -15.5236 4.22567 1.11332 1.90116 1.14118 3.90375 -2.78396 -0.0890239 0.400054 16.2019 1.32887 175.506 -166.915 167.904 1.16666 -1.68313 1.15951
+20.6612 85.7176 26.1446 1.21002 0.940923 -178.458 0.256173 0.0216717 2.02963 0.381784 0.0323209 3.0293 0.388278 1.13132 -0.871027 0.388278 1.13132 -0.871027 6.84573 1.19652 1.82903 99.6937 167.369 168.936 177.55 153.02 172.66 173.378 -173.62 -167.829 173.055 178.945 178.346 78.8677 12.5267 2.52539 165.727 168.839 -150.511 177.325 -167.844 168.795 0.140843 -3.76722 -5.39596 179.951 179.704 -179.97 179.753 -177.25 177.612 0.212321 18.4646 1.07161 0.669775 -15.527 4.23345 1.1135 1.89191 1.14117 3.9067 -2.7721 -0.0795405 0.400062 16.2016 1.32887 175.501 -166.913 167.911 1.16679 -1.68981 1.15951
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+20.738 85.674 26.2384 1.061 2.63838 -175.924 0.0983099 0.256073 0.778153 0.144175 0.382156 1.16144 0.571039 1.49385 -0.92295 0.571039 1.49385 -0.92295 13.1029 0.831675 1.82882 96.8247 168.231 164.343 2.24628 -5.04408 -87.4405 7.53868 -17.5724 21.3131 170.501 179.323 178.346 80.6429 30.994 9.19839 8.10098 -28.6825 91.4305 156.854 -155.764 140.562 2.12955 -0.361762 0.445722 179.862 179.386 -179.945 179.994 -178.048 177.386 0.195307 19.323 1.07712 0.333894 -15.5825 1.85304 1.11371 1.88163 1.14116 3.99709 -0.924228 -1.4032 0.400077 16.201 1.32886 175.224 -166.756 166.514 1.16498 -1.60005 1.15946
+20.7342 85.6739 26.2353 1.06095 2.62375 -175.896 0.0981293 0.252281 0.787254 0.143914 0.376494 1.17502 0.570991 1.48822 -0.921111 0.570991 1.48822 -0.921111 13.1052 0.864409 1.82884 96.7428 168.323 164.633 1.56944 -5.09232 -87.2226 7.46009 -17.8379 21.2281 170.496 179.293 178.346 80.7079 30.9639 9.01993 8.13032 -28.766 91.4763 156.844 -155.772 140.55 2.11987 -0.330161 0.459378 179.861 179.387 -179.946 179.992 -178.031 177.384 0.195323 19.3222 1.07711 0.345153 -15.5787 1.83152 1.11412 1.86107 1.14115 3.99409 -0.933397 -1.41562 0.400082 16.2008 1.32886 175.236 -166.753 166.504 1.16528 -1.61496 1.15947
+20.73 85.6746 26.2333 1.06365 2.61429 -175.873 0.101411 0.253269 0.797721 0.148767 0.377969 1.19064 0.569048 1.48376 -0.91953 0.569048 1.48376 -0.91953 13.105 0.895768 1.82885 96.6617 168.411 164.914 0.976345 -5.14257 -87.0093 7.34428 -18.0603 21.1487 170.489 179.269 178.346 80.7827 30.9324 8.84355 8.17095 -28.8537 91.5301 156.881 -155.82 140.551 2.11448 -0.321501 0.473213 179.86 179.388 -179.946 179.992 -178.017 177.373 0.195229 19.3269 1.07714 0.343467 -15.5764 1.82466 1.11426 1.85374 1.14115 3.99387 -0.940111 -1.42983 0.400074 16.2011 1.32886 175.244 -166.75 166.491 1.16531 -1.61655 1.15947
+20.7245 85.674 26.2306 1.06335 2.60348 -175.85 0.102444 0.253303 0.805117 0.150285 0.378018 1.20168 0.560956 1.4836 -0.911341 0.560956 1.4836 -0.911341 13.1326 0.909426 1.82886 96.5695 168.361 165.194 0.535105 -5.3203 -86.7955 7.54692 -18.5455 21.073 170.476 179.281 178.346 80.9019 30.8849 8.62582 8.20711 -28.9372 91.5691 156.968 -155.849 140.549 2.13179 -0.325871 0.478071 179.859 179.387 -179.946 179.989 -178.006 177.362 0.195267 19.325 1.07713 0.350366 -15.5738 1.81432 1.11434 1.84969 1.14114 3.98989 -0.946467 -1.44471 0.400073 16.2011 1.32886 175.25 -166.744 166.486 1.16534 -1.61802 1.15947
+20.7194 85.6734 26.2288 1.0601 2.59023 -175.829 0.101641 0.252896 0.811463 0.149071 0.377411 1.21115 0.555807 1.48121 -0.904194 0.555807 1.48121 -0.904194 13.1434 0.935888 1.82887 96.4945 168.353 165.458 0.140167 -5.42711 -86.5959 7.75117 -18.9594 20.9925 170.465 179.285 178.346 81.0114 30.8341 8.42682 8.24981 -29.007 91.6058 156.997 -155.87 140.517 2.13871 -0.325928 0.489797 179.858 179.387 -179.946 179.981 -177.988 177.352 0.195174 19.3296 1.07716 0.351175 -15.5687 1.80952 1.11479 1.82705 1.14113 3.98427 -0.955819 -1.45978 0.400071 16.2012 1.32886 175.254 -166.734 166.479 1.16517 -1.6096 1.15946
+20.7156 85.6738 26.2243 1.06031 2.59504 -175.81 0.10146 0.261651 0.815381 0.148695 0.390475 1.217 0.549121 1.47778 -0.896489 0.549121 1.47778 -0.896489 13.1614 0.961835 1.82889 96.4162 168.338 165.711 179.899 -174.448 93.5974 7.8311 -19.4503 21.03 170.464 179.284 178.346 81.1269 30.7515 8.2425 8.24545 -29.0594 91.6111 157.02 -155.851 140.457 2.15792 -0.330592 0.504158 179.856 179.387 -179.947 179.98 -177.994 177.342 0.195194 19.3286 1.07715 0.354019 -15.5713 1.80337 1.11465 1.83447 1.14113 3.98336 -0.945388 -1.46232 0.400082 16.2007 1.32886 175.26 -166.736 166.464 1.1653 -1.61634 1.15947
+20.7109 85.6736 26.2206 1.05663 2.59312 -175.792 0.0994378 0.265515 0.821876 0.145615 0.396241 1.2267 0.547132 1.47521 -0.893593 0.547132 1.47521 -0.893593 13.1646 0.990956 1.8289 96.3412 168.363 165.954 179.675 -174.388 93.7861 7.88282 -19.8434 21.0555 170.454 179.284 178.346 81.2425 30.6981 8.06456 8.26235 -29.1266 91.6267 157.026 -155.861 140.408 2.16129 -0.32662 0.522046 179.856 179.387 -179.947 179.974 -177.991 177.33 0.195151 19.3308 1.07717 0.334418 -15.5746 1.79152 1.11434 1.84999 1.14114 3.97731 -0.942064 -1.46881 0.400092 16.2003 1.32886 175.256 -166.734 166.453 1.1655 -1.62577 1.15947
+20.7065 85.6738 26.2185 1.05889 2.59043 -175.777 0.101924 0.270466 0.827645 0.149254 0.403629 1.23531 0.539725 1.47165 -0.888695 0.539725 1.47165 -0.888695 13.1712 1.02006 1.82892 96.2729 168.393 166.187 179.411 -174.377 93.9776 7.99185 -20.0998 21.0221 170.452 179.284 178.346 81.3536 30.6329 7.88659 8.31671 -29.1707 91.6616 157.019 -155.878 140.376 2.16943 -0.325543 0.537777 179.855 179.387 -179.947 179.974 -177.985 177.328 0.195081 19.3343 1.07719 0.338131 -15.5732 1.77526 1.11432 1.85105 1.14114 3.97716 -0.941939 -1.46412 0.400082 16.2007 1.32886 175.264 -166.726 166.441 1.16529 -1.61557 1.15947
+20.7005 85.6747 26.2178 1.05184 2.58412 -175.767 0.0996769 0.274184 0.835656 0.145832 0.409176 1.24727 0.534762 1.46552 -0.885674 0.534762 1.46552 -0.885674 13.1627 1.04708 1.82894 96.217 168.391 166.41 179.242 -174.319 94.1653 8.02694 -20.4113 21.0458 170.429 179.278 178.346 81.4778 30.5706 7.71337 8.32024 -29.2034 91.6502 157.029 -155.847 140.378 2.17254 -0.315265 0.553739 179.855 179.388 -179.947 179.964 -177.972 177.295 0.194698 19.3535 1.07732 0.320964 -15.573 1.76356 1.11373 1.88068 1.14116 3.96591 -0.946364 -1.46978 0.400074 16.2011 1.32886 175.267 -166.712 166.435 1.16494 -1.59837 1.15946
+20.695 85.6745 26.2165 1.05417 2.58065 -175.756 0.102476 0.277883 0.839561 0.149956 0.414696 1.25309 0.528245 1.45851 -0.882971 0.528245 1.45851 -0.882971 13.1687 1.08036 1.82896 96.1443 168.43 166.632 179 -174.328 94.3349 8.08729 -20.5871 21.0686 170.42 179.254 178.346 81.5676 30.5369 7.57728 8.3027 -29.2583 91.6351 157.095 -155.827 140.358 2.17787 -0.297897 0.567708 179.854 179.389 -179.947 179.962 -177.968 177.288 0.194723 19.3523 1.07731 0.320444 -15.5729 1.76074 1.11382 1.87604 1.14116 3.96478 -0.947873 -1.47584 0.400059 16.2017 1.32887 175.275 -166.707 166.423 1.16478 -1.59059 1.15945
+20.689 85.6739 26.2181 1.05418 2.57016 -175.748 0.10465 0.279169 0.845972 0.153163 0.416614 1.26266 0.518432 1.45094 -0.884527 0.518432 1.45094 -0.884527 13.1726 1.10508 1.82897 96.079 168.456 166.851 178.823 -174.32 94.5092 8.0868 -20.7892 21.0451 170.419 179.235 178.346 81.6602 30.4766 7.44368 8.29268 -29.2749 91.6154 157.098 -155.778 140.333 2.18864 -0.279231 0.590157 179.854 179.39 -179.947 179.955 -177.954 177.284 0.194698 19.3535 1.07732 0.338009 -15.5682 1.76603 1.11399 1.86744 1.14115 3.95893 -0.959013 -1.48701 0.400033 16.2028 1.32887 175.272 -166.708 166.432 1.16501 -1.60157 1.15946
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diff --git a/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.csv b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61ea139537a7a79d942f4c374b69ad4230ee5c12
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b53c53b82e55e6d706caa5b0dd360f5625648a989ec60d3d94174ab25b4141
+size 66215769
diff --git a/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.trc b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.trc
new file mode 100644
index 0000000000000000000000000000000000000000..8ad737554bbdb8798707f3fc2cd3d5f14982f984
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Body0.trc
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f1af2c85d601d7d54d9fc57aefebb76412610b614f66b1480bf1bf27e812676
+size 14354752
diff --git a/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Tracker0.csv b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Tracker0.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5699ce12da186aab7ea3b5c0e5ba49ffce7dcaa4
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Tracker0.csv
@@ -0,0 +1,8096 @@
+#Hierarchical Translation and Rotation (.csv) file
+[Head]
+NumFrames,NumSegments,DataFrameRate,EulerRotationOrder,BoneAxis,TranslationUnits
+8084,1,120,ZYX,Y,mm
+
+[SegmentNames&Hierarchy]
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+Segment1,Global
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+8076,1793100253965,90.173065, 1573.716431, 183.728485, 7.223053, -0.292969, -2.111206, 7.530971, 460.876465, -1121.484375, -573.486328, 1341.275879, -0.011492, 0.997814, -0.014924, -0.063347, -178.363602, -7.282410, -178.784470, 1.615854, 0.566465, -0.700877, -1037.170898, 84.303909, 819.672119, 80.493866, 
+8077,1793100253973,90.219063, 1573.783325, 183.687637, 7.331543, 1.530762, -4.701233, 8.842870, -434.838867, 1559.179688, -48.120117, 1619.395508, -0.011327, 0.997818, -0.015023, -0.063291, -178.350891, -7.275798, -178.804077, -0.590072, 0.855587, 0.180876, 507.748688, -14.914437, -608.051392, 80.493866, 
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diff --git a/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Tracker0.trc b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Tracker0.trc
new file mode 100644
index 0000000000000000000000000000000000000000..2e250e413b8f1211ad8508861ef77b72e8ff74ac
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D40/session_013/raw/mocap/Tracker0.trc
@@ -0,0 +1,8090 @@
+PathFileType	4	(X/Y/Z)	D:/nokov/20261027-afternoon/mocap-D40-S05-gaoziyue-02p1/mocap-D40-S05-gaoziyue-02p1-Tracker0.trc
+DataRate	CameraRate	NumFrames	NumMarkers	Units	OrigDataRate	OrigDataStartFrame	OrigNumFrames	useTimeStamp
+120	120	      8084	4	mm	120	1	      8084	         1
+Frame#	Time	Timestamp	Marker1			Marker2			Marker3			Marker4			RCalc::Marker1			RCalc::Marker2			RCalc::Marker3			RCalc::Marker4			
+			X1	Y1	Z1	X2	Y2	Z2	X3	Y3	Z3	X4	Y4	Z4	X1	Y1	Z1	X2	Y2	Z2	X3	Y3	Z3	X4	Y4	Z4	
+
+1	0.000	1793100186700	151.070435	1576.292847	136.776138	177.067520	1570.992676	60.464802	297.630798	1571.499390	49.870705	348.760345	1568.860107	122.623642	151.299637	1576.188354	136.439575	177.797897	1571.148804	60.599564	296.623718	1571.367554	50.110996	348.807831	1568.940430	122.585159	
+2	0.008	1793100186708	323.772736	1571.561279	301.834747	291.000427	1563.202759	374.996735	169.774200	1561.849609	374.711548	125.589241	1561.235352	297.904388	323.365479	1571.445801	302.039062	290.251831	1563.339233	374.957031	170.974762	1561.744751	374.688263	125.544518	1561.319214	297.763031	
+3	0.016	1793100186717	323.674805	1571.606323	301.775055	290.933044	1563.399902	374.912598	169.700653	1561.854980	374.576996	125.630249	1561.294434	297.801178	323.325623	1571.538940	301.972961	290.189667	1563.462524	374.884186	170.913345	1561.821411	374.574738	125.510109	1561.332886	297.633972	
+4	0.025	1793100186725	323.428619	1571.603394	301.747650	290.808105	1563.477417	374.926483	169.554581	1561.954346	374.367126	125.535568	1561.306763	297.643768	323.200439	1571.538696	301.944031	290.007568	1563.545532	374.838501	170.731369	1561.913696	374.438843	125.387489	1561.343872	297.463623	
+5	0.033	1793100186733	323.525696	1571.662109	301.658142	290.713654	1563.610962	374.841400	169.386108	1562.030884	374.075775	125.491005	1561.333984	297.434937	323.185883	1571.600708	301.876678	289.912964	1563.663452	374.740784	170.637619	1562.008911	374.209106	125.379982	1561.364868	297.183716	
+6	0.041	1793100186742	323.459381	1571.773438	301.651733	290.546661	1563.557251	374.746246	169.338776	1562.109375	374.006226	125.434181	1561.371338	297.229248	323.124084	1571.672974	301.849915	289.804321	1563.675537	374.686005	170.529327	1562.021606	374.076233	125.321243	1561.441284	297.021240	
+7	0.050	1793100186750	323.292786	1571.757446	301.614838	290.432800	1563.798950	374.659302	169.292999	1562.216187	373.839905	125.379890	1561.468872	296.939087	323.061920	1571.710449	301.781250	289.674347	1563.840088	374.600128	170.399780	1562.198364	373.883575	125.262436	1561.492676	296.788177	
+8	0.058	1793100186758	323.287079	1571.885620	301.552917	290.343994	1563.822388	374.524963	169.039032	1562.340454	373.710938	125.298965	1561.404297	296.756287	322.974823	1571.785767	301.714294	289.542145	1563.942261	374.515411	170.268829	1562.247314	373.720245	125.183258	1561.477417	296.595154	
+9	0.066	1793100186766	323.009216	1572.013306	301.445984	290.161957	1563.956665	374.380157	168.984070	1562.376953	373.498993	125.263718	1561.465454	296.664459	322.833405	1571.933472	301.576233	289.405396	1564.056641	374.375854	170.132965	1562.299438	373.581207	125.047203	1561.522827	296.456329	
+10	0.075	1793100186775	322.993256	1572.148560	301.403656	290.022369	1564.048584	374.319885	168.825043	1562.441040	373.372620	125.280220	1561.457520	296.455383	322.789520	1572.052490	301.560760	289.293671	1564.171631	374.328766	170.023132	1562.345215	373.415802	125.014595	1561.526245	296.246246	
+11	0.083	1793100186783	322.928162	1572.096069	301.344513	289.887390	1564.188354	374.127380	168.691330	1562.539062	373.147583	125.088905	1561.486572	296.216675	322.682892	1572.023682	301.433350	289.137268	1564.271729	374.192291	169.866867	1562.474731	373.204071	124.908745	1561.539917	296.006470	
+12	0.091	1793100186791	322.872131	1572.199463	301.302795	289.841949	1564.227783	374.098572	168.619019	1562.587280	372.998749	124.981117	1561.553711	296.046997	322.630280	1572.119873	301.391602	289.046570	1564.322266	374.128082	169.776962	1562.511230	373.074829	124.860374	1561.614990	295.852600	
+13	0.100	1793100186800	322.842133	1572.272705	301.245514	289.729004	1564.228882	374.047363	168.498398	1562.645386	372.883881	124.884232	1561.567993	295.831360	322.564636	1572.169556	301.352203	288.929108	1564.357910	374.063232	169.660431	1562.537598	372.923737	124.799591	1561.649902	295.668976	
+14	0.108	1793100186808	322.848907	1572.334229	301.079529	289.531525	1564.372681	373.926117	168.461960	1562.698730	372.803314	124.799210	1561.525024	295.651672	322.489777	1572.232910	301.226074	288.843842	1564.491577	373.939819	169.576401	1562.605957	372.778656	124.731567	1561.600342	295.516052	
+15	0.116	1793100186816	322.718262	1572.298828	300.993500	289.504425	1564.449707	373.761566	168.283936	1562.688599	372.651276	124.626419	1561.557861	295.476135	322.367889	1572.229248	301.092133	288.711426	1564.517578	373.804138	169.444000	1562.639893	372.627258	124.609718	1561.608521	295.358887	
+16	0.125	1793100186825	322.683563	1572.393066	300.826813	289.452728	1564.496338	373.711700	168.135849	1562.817139	372.426270	124.559364	1561.580200	295.381622	322.299988	1572.290894	300.976532	288.627472	1564.612305	373.684631	169.360397	1562.727417	372.481628	124.543694	1561.656250	295.203583	
+17	0.133	1793100186833	322.538971	1572.352905	300.720062	289.319977	1564.651245	373.564453	168.011841	1562.887451	372.210236	124.481750	1561.625000	295.259857	322.190063	1572.285156	300.843292	288.497864	1564.715210	373.553619	169.230850	1562.845581	372.322784	124.433762	1561.670532	295.034912	
+18	0.141	1793100186841	322.583679	1572.560791	300.501312	289.222931	1564.626099	373.448212	167.884323	1562.912720	372.076965	124.431755	1561.643188	295.113434	322.129242	1572.445923	300.701172	288.440063	1564.754883	373.400208	169.174179	1562.817627	372.164429	124.379234	1561.724365	294.874084	
+19	0.150	1793100186850	322.467316	1572.457642	300.381927	289.116211	1564.767944	373.311493	167.819931	1562.955811	371.925964	124.328964	1561.693604	295.005157	322.033783	1572.389526	300.560242	288.342743	1564.823853	373.271576	169.076141	1562.929077	372.040344	124.279739	1561.732666	294.752380	
+20	0.158	1793100186858	322.327179	1572.636108	300.300140	289.029724	1564.866943	373.181976	167.732605	1563.007202	371.829803	124.267586	1561.745361	294.756958	321.949982	1572.563721	300.465088	288.233612	1564.933716	373.157959	168.968689	1562.967529	371.876465	124.204826	1561.790527	294.569336	
+21	0.166	1793100186866	322.203461	1572.621826	300.229828	288.854919	1564.872192	373.089752	167.458084	1563.084717	371.588928	124.155884	1561.728271	294.573639	321.810516	1572.532104	300.397766	288.028564	1564.966187	373.066895	168.764481	1563.019897	371.681580	124.068756	1561.788818	294.335907	
+22	0.175	1793100186875	322.039001	1572.703247	300.113953	288.780945	1564.958496	372.972717	167.537277	1563.216431	371.483032	124.074539	1561.745850	294.264832	321.760742	1572.601318	300.262756	287.955841	1565.082886	372.926117	168.692520	1563.116821	371.502625	124.022667	1561.822754	294.143036	
+23	0.183	1793100186883	322.092438	1572.777588	300.005707	288.552399	1565.034302	372.800903	167.370514	1563.188721	371.353180	123.903549	1561.759521	294.084076	321.644714	1572.683350	300.158905	287.811157	1565.131836	372.805511	168.549286	1563.118164	371.329437	123.913712	1561.826660	293.950012	
+24	0.191	1793100186891	321.865692	1572.808594	299.853668	288.459229	1565.089111	372.575684	167.264679	1563.275635	371.194672	123.932922	1561.723755	293.974579	321.537292	1572.704956	299.971741	287.719879	1565.214355	372.632141	168.458099	1563.175293	371.181946	123.807243	1561.802734	293.812744	
+25	0.200	1793100186900	321.743042	1572.979614	299.687744	288.375336	1565.183838	372.526917	167.115921	1563.419312	371.010010	123.753426	1561.804810	293.747498	321.414520	1572.849976	299.850250	287.572479	1565.348389	372.498047	168.311676	1563.283691	371.004639	123.689056	1561.905518	293.619232	
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+27	0.216	1793100186916	321.641541	1573.143677	299.415070	288.137299	1565.418335	372.220581	166.931610	1563.585205	370.786102	123.504929	1561.752808	293.506653	321.211792	1572.997070	299.566132	287.383728	1565.602173	372.231415	168.124634	1563.431152	370.754425	123.495224	1561.869507	293.376404	
+28	0.225	1793100186925	321.356110	1573.202881	299.231720	288.001984	1565.450562	372.170380	166.704514	1563.561157	370.562073	123.371010	1561.804199	293.376495	321.017822	1573.068359	299.431854	287.185181	1565.619385	372.089447	167.926620	1563.425659	370.601044	123.304016	1561.905396	293.218292	
+29	0.233	1793100186933	321.317535	1573.203369	299.147705	287.907013	1565.502075	372.023926	166.652802	1563.610962	370.307220	123.288010	1561.833252	293.048553	320.985321	1573.075439	299.320068	287.080414	1565.661499	371.947571	167.823135	1563.480591	370.342834	123.276466	1561.932007	292.916901	
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+1948	16.225	1793100202918	313.950928	1551.123413	290.680634	279.220123	1533.490723	361.136230	157.987991	1536.117554	358.021942	116.105759	1547.878296	281.008759	313.705292	1550.995117	290.861847	278.464569	1533.654663	361.123230	159.239594	1535.974121	358.015869	115.855331	1547.986084	280.846619	
+1949	16.233	1793100202927	313.924225	1551.202515	290.612793	279.271240	1533.586792	361.053864	158.062546	1536.112671	357.889557	116.065887	1547.896729	281.064545	313.699646	1551.099854	290.759064	278.502869	1533.720215	361.032776	159.275223	1535.982056	357.986298	115.846146	1547.996826	280.842651	
+1950	16.241	1793100202935	314.007263	1551.187744	290.417969	279.394897	1533.601074	360.916626	158.120651	1536.133911	357.823669	116.020111	1547.849121	280.885468	313.742432	1551.074951	290.573364	278.571838	1533.751099	360.873993	159.342926	1535.999878	357.867401	115.885735	1547.946045	280.728973	
+1951	16.250	1793100202943	313.947845	1551.142944	290.269104	279.304047	1533.667969	360.814819	158.132568	1536.177856	357.838226	116.158340	1547.812378	280.851624	313.732147	1551.029663	290.460327	278.584259	1533.806274	360.796967	159.354523	1536.061157	357.828247	115.871841	1547.904175	280.688263	
+1952	16.258	1793100202952	313.979858	1551.270630	290.164490	279.407043	1533.697144	360.735748	158.164154	1536.120117	357.757294	116.126892	1547.853271	280.841309	313.746674	1551.164673	290.361053	278.639832	1533.825073	360.689636	159.407486	1536.014404	357.776398	115.883926	1547.937012	280.671753	
+1953	16.266	1793100202960	314.058197	1551.265503	290.129333	279.529907	1533.723145	360.716217	158.282883	1536.031006	357.691071	116.197983	1547.806641	280.889740	313.831970	1551.184570	290.318787	278.751526	1533.814575	360.653076	159.517471	1535.953247	357.772430	115.968010	1547.873901	280.682098	
+1954	16.275	1793100202968	314.121918	1551.233521	289.958740	279.610504	1533.708496	360.631165	158.279343	1536.167725	357.646057	116.205872	1547.838623	280.812714	313.862305	1551.122192	290.177826	278.798279	1533.845215	360.543213	159.564484	1536.055420	357.706573	115.992592	1547.925415	280.621094	
+1955	16.283	1793100202977	314.321960	1551.337646	289.860626	279.604736	1533.760498	360.437561	158.604767	1536.156372	357.621246	116.302475	1547.731445	280.840912	313.985901	1551.214111	290.036865	278.986664	1533.910889	360.428009	159.749008	1536.016968	357.675446	116.112358	1547.844116	280.620026	
+1956	16.291	1793100202985	314.310364	1551.335571	289.754272	279.827728	1533.855347	360.323364	158.675171	1536.118774	357.540497	116.377113	1547.734131	280.805573	314.055145	1551.251343	289.899353	279.098602	1533.954468	360.313293	159.858856	1536.021851	357.623169	116.177750	1547.816040	280.587891	
+1957	16.300	1793100202993	314.436096	1551.339966	289.541077	280.012573	1533.863525	360.227478	158.816483	1536.121582	357.488312	116.440575	1547.786621	280.764465	314.160461	1551.257690	289.725189	279.255676	1533.956543	360.163757	160.014191	1536.042969	357.566132	116.275391	1547.854614	280.566254	
+1958	16.308	1793100203002	314.557037	1551.395142	289.361694	280.129547	1533.868774	360.129974	158.896652	1536.106445	357.409851	116.528076	1547.716553	280.750092	314.240906	1551.294800	289.582092	279.380707	1533.982788	360.040039	160.136932	1536.012207	357.503845	116.352760	1547.796997	280.525635	
+1959	16.316	1793100203010	314.681061	1551.386230	289.298553	280.352997	1533.821655	359.941833	159.014847	1536.199829	357.451477	116.620361	1547.613647	280.619141	314.368622	1551.246094	289.452820	279.533997	1534.007446	359.941406	160.289291	1536.032349	357.445831	116.477318	1547.735474	280.470978	
+1960	16.325	1793100203018	314.794189	1551.453369	289.154724	280.516479	1533.853516	359.765137	159.057587	1536.103149	357.277832	116.735710	1547.694092	280.644806	314.457977	1551.348145	289.300659	279.664764	1533.981201	359.778229	160.418213	1535.977173	357.347931	116.563011	1547.797607	280.415649	
+1961	16.333	1793100203027	314.971344	1551.471191	289.031219	280.629486	1533.781372	359.658600	159.398117	1536.156494	357.315918	116.828049	1547.692383	280.580872	314.619080	1551.330811	289.173462	279.869019	1533.965942	359.672821	160.621277	1535.985229	357.321411	116.717598	1547.819458	280.418915	
+1962	16.341	1793100203035	315.091827	1551.445801	288.789886	280.868378	1533.787476	359.583588	159.664413	1536.147583	357.319000	117.002769	1547.697754	280.569733	314.785156	1551.305664	288.985870	280.109039	1533.969360	359.528625	160.859024	1535.997070	357.303802	116.874168	1547.806519	280.443878	
+1963	16.350	1793100203043	315.293671	1551.478882	288.698059	281.058990	1533.834229	359.497711	159.895493	1536.196045	357.265076	117.246750	1547.656982	280.630035	314.984100	1551.330933	288.890808	280.346313	1534.026367	359.460175	161.094757	1536.026245	357.292450	117.069763	1547.782715	280.447388	
+1964	16.358	1793100203052	315.397156	1551.539429	288.534576	281.225800	1533.905029	359.288727	160.087067	1536.174805	357.177734	116.693474	1548.083496	281.258698	314.846802	1551.493774	288.604034	280.457367	1533.958740	359.237976	161.200546	1536.081909	357.526123	116.898758	1548.168335	280.891602	
+1965	16.366	1793100203060	315.626343	1551.554688	288.310120	281.529358	1533.850464	359.139557	160.382996	1536.138184	357.241913	116.828705	1548.017944	281.331512	315.033630	1551.488647	288.395111	280.759521	1533.932861	359.079926	161.499619	1536.025757	357.555481	117.074600	1548.114014	280.992615	
+1966	16.375	1793100203068	315.788361	1551.569336	288.104980	281.928558	1533.921143	358.931183	160.546188	1536.103516	357.206970	117.000008	1548.064331	281.357483	315.213348	1551.536255	288.167389	281.033234	1533.955688	358.891541	161.771133	1536.031616	357.521851	117.245407	1548.134644	281.019867	
+1967	16.383	1793100203077	316.051361	1551.622314	287.898987	282.132599	1533.844727	358.824463	160.813919	1536.227417	357.192535	117.183662	1548.061768	281.426270	315.410461	1551.529541	288.000183	281.299896	1533.966553	358.762268	162.037033	1536.076416	357.518066	117.434135	1548.183594	281.061707	
+1968	16.391	1793100203085	316.202332	1551.467651	287.654205	282.423950	1533.809692	358.637634	161.340652	1536.204834	357.164856	117.412247	1548.067261	281.467865	315.659180	1551.401611	287.728943	281.656952	1533.901855	358.558838	162.393417	1536.079956	357.512909	117.669609	1548.166016	281.123871	
+1969	16.400	1793100203093	316.322144	1551.524658	287.459045	282.869171	1533.823853	358.458344	161.750885	1536.107422	357.152710	117.697456	1548.003174	281.589386	315.908173	1551.476685	287.499451	282.044250	1533.901367	358.376831	162.777405	1535.988037	357.542450	117.909813	1548.092896	281.240753	
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+1971	16.416	1793100203110	317.008179	1551.604004	287.134552	283.573486	1533.948120	358.178772	162.326385	1536.177002	357.137054	118.289024	1547.963989	281.737885	316.477875	1551.549561	287.187042	282.759521	1534.020996	358.145386	163.490341	1536.052612	357.540497	118.469337	1548.069824	281.315369	
+1972	16.425	1793100203118	317.315308	1551.630493	286.929199	284.057068	1533.913696	357.971527	162.701706	1536.218750	357.219543	118.569321	1548.036255	281.859497	316.779083	1551.566528	286.961365	283.187439	1534.004761	357.971558	163.917999	1536.074585	357.590240	118.758842	1548.153320	281.456604	
+1973	16.433	1793100203127	317.615540	1551.654297	286.583710	284.558838	1533.929321	357.899017	163.075287	1536.252197	357.269135	118.780258	1548.022827	281.943207	317.058838	1551.569580	286.698761	283.606293	1534.049072	357.784760	164.336121	1536.106689	357.632660	119.028671	1548.133179	281.578888	
+1974	16.441	1793100203135	317.889709	1551.657349	286.424347	284.840729	1533.902710	357.695312	163.571198	1536.242676	357.296570	119.079369	1547.983154	282.053345	317.344482	1551.567749	286.500793	283.999847	1534.032227	357.633789	164.729340	1536.076294	357.659668	119.307312	1548.109619	281.675354	
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+1978	16.475	1793100203168	319.310181	1551.769287	285.501923	286.649139	1533.960571	356.962646	165.463058	1536.161377	357.400146	120.374886	1547.974121	282.557098	318.697662	1551.695068	285.574066	285.867188	1534.060059	356.921326	166.598358	1536.015503	357.788330	120.634048	1548.094727	282.138123	
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+1986	16.541	1793100203235	321.901550	1551.808838	283.549103	290.491669	1533.847290	355.484467	169.187637	1535.786865	357.690674	123.241165	1547.668701	283.473969	321.422394	1551.740601	283.658356	289.655121	1533.932861	355.442657	170.407700	1535.663452	358.029358	123.336815	1547.774780	283.067841	
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+1992	16.591	1793100203285	324.313934	1551.573242	282.009766	293.413147	1533.417480	354.197876	172.222473	1535.298096	357.696808	125.539742	1547.238770	283.754089	323.737122	1551.477051	282.149139	292.656799	1533.529785	354.198944	173.437546	1535.163208	357.904297	125.657814	1547.357422	283.406128	
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+1995	16.616	1793100203310	325.359741	1551.459229	281.259766	294.992645	1533.330078	353.533234	173.763580	1535.106201	357.628571	126.773697	1546.999268	283.976257	324.891327	1551.380371	281.354736	294.187347	1533.426880	353.564178	174.987061	1534.973022	357.869202	126.823936	1547.114502	283.609711	
+1996	16.625	1793100203318	325.730957	1551.217041	280.985870	295.547089	1533.259277	353.458923	174.239059	1534.975952	357.608093	126.988243	1546.981934	283.947662	325.250885	1551.178345	281.122345	294.631927	1533.297241	353.385834	175.438446	1534.920898	357.848328	127.184082	1547.037598	283.644043	
+1997	16.633	1793100203327	326.129089	1551.301270	280.796173	295.896118	1533.294800	353.106110	174.715775	1534.796265	357.527191	127.529213	1546.884888	283.929047	325.647278	1551.288574	280.888000	295.113281	1533.280396	353.155853	175.922318	1534.772461	357.729401	127.587318	1546.935913	283.585236	
+1998	16.641	1793100203335	326.562378	1551.306641	280.404572	296.472107	1533.150146	352.831665	175.213593	1534.761475	357.417572	128.095184	1546.812134	284.056000	326.089661	1551.253906	280.544189	295.699890	1533.191040	352.859161	176.518326	1534.682129	357.672272	128.035400	1546.903198	283.634247	
+1999	16.650	1793100203343	326.907104	1551.371704	280.121948	296.918884	1533.036133	352.684082	175.806229	1534.700317	357.274689	128.365692	1546.782104	283.962677	326.460175	1551.290527	280.289124	296.152039	1533.130737	352.614075	176.975281	1534.584595	357.555756	128.410431	1546.884277	283.584473	
+2000	16.658	1793100203352	327.269775	1551.382324	279.924133	297.419373	1532.966675	352.435760	176.276611	1534.685425	357.240814	128.707901	1546.691162	283.816559	326.844391	1551.276367	280.053833	296.601746	1533.108521	352.404205	177.428741	1534.528076	357.445099	128.798767	1546.812744	283.514130	
+2001	16.666	1793100203360	327.679993	1551.171631	279.674591	297.879364	1532.964478	352.234833	176.622971	1534.638306	357.140564	129.117859	1546.644653	283.746765	327.228394	1551.097778	279.816925	297.028656	1533.049316	352.215088	177.860016	1534.535034	357.339264	129.183121	1546.736938	283.425476	
+2002	16.675	1793100203368	328.131561	1551.219116	279.449463	298.447632	1532.923096	351.885071	177.163818	1534.543457	357.102600	129.667953	1546.693359	283.866058	327.686249	1551.164185	279.541626	297.617981	1532.977051	351.959778	178.458740	1534.448608	357.302094	129.647964	1546.789307	283.499725	
+2003	16.683	1793100203377	328.735016	1551.315552	279.175354	298.838196	1532.774902	351.840302	177.720551	1534.458618	357.038177	130.045425	1546.639282	283.826996	328.141632	1551.201294	279.392456	298.123383	1532.898926	351.802338	178.967026	1534.326904	357.220093	130.107132	1546.761230	283.465942	
+2004	16.691	1793100203385	329.037292	1551.275024	278.895416	299.454254	1532.803955	351.464905	178.103088	1534.320679	356.780426	130.379517	1546.597534	283.804749	328.490753	1551.218628	279.029907	298.584137	1532.855103	351.470490	179.435089	1534.229980	357.060333	130.464157	1546.693604	283.384796	
+2005	16.700	1793100203393	329.293579	1551.209961	278.658203	299.876007	1532.739746	351.231934	178.495605	1534.239868	356.721741	130.792419	1546.519043	283.746094	328.820496	1551.155762	278.785431	298.990723	1532.788940	351.256866	179.847412	1534.152222	356.970184	130.798950	1546.611694	283.345520	
+2006	16.708	1793100203402	329.866547	1551.097168	278.293640	300.226166	1532.623413	351.026672	179.248062	1534.239136	356.674835	131.328033	1546.378296	283.603058	329.337891	1550.995483	278.492340	299.574249	1532.729370	351.016357	180.436691	1534.121094	356.841797	131.320007	1546.492065	283.247711	
+2007	16.716	1793100203410	330.298889	1551.036011	278.050201	300.928528	1532.526611	350.695801	179.667862	1534.218872	356.479584	131.814407	1546.376587	283.513031	329.813812	1550.937500	278.191254	300.114075	1532.641968	350.734070	180.982773	1534.074341	356.676331	131.799026	1546.504272	283.136993	
+2008	16.725	1793100203418	330.770050	1550.983521	277.788086	301.355804	1532.424805	350.378448	180.254913	1534.114014	356.355865	132.142502	1546.348877	283.427643	330.222687	1550.891846	277.893402	300.605682	1532.531006	350.453552	181.481583	1533.971436	356.536499	132.213318	1546.476929	283.066559	
+2009	16.733	1793100203426	331.264893	1550.886353	277.481079	301.831940	1532.375732	350.237610	180.938446	1534.079590	356.246246	132.650970	1546.322754	283.473480	330.713806	1550.796997	277.635345	301.188812	1532.473267	350.242371	182.073410	1533.951416	356.484650	132.710251	1546.442749	283.076050	
+2010	16.741	1793100203435	331.604248	1550.868042	277.185577	302.548828	1532.313843	349.933044	181.239609	1534.039673	356.108490	132.895905	1546.227173	283.325317	331.064606	1550.770142	277.301544	301.631653	1532.441528	349.944702	182.523285	1533.882935	356.328430	133.069031	1546.354248	282.977753	
+2011	16.750	1793100203443	331.841522	1550.892700	276.930695	303.025787	1532.285889	349.690186	181.743164	1533.942261	356.003235	133.497986	1546.165649	283.127014	331.491455	1550.795532	277.050751	302.110413	1532.415527	349.701904	183.005157	1533.795410	356.156738	133.501465	1546.280029	282.841705	
+2012	16.758	1793100203451	332.575195	1550.814819	276.583710	303.438629	1532.317627	349.424072	182.399139	1533.910767	355.846741	133.924438	1546.091309	283.103516	332.005249	1550.725220	276.740845	302.704254	1532.413574	349.441559	183.605988	1533.792358	356.024414	134.021927	1546.203369	282.751190	
+2013	16.766	1793100203460	332.906830	1550.814697	276.259521	304.082703	1532.281006	349.098053	182.855789	1533.905396	355.709351	134.359207	1546.145142	282.933075	332.427155	1550.728394	276.394836	303.208649	1532.383301	349.120331	184.118637	1533.785889	355.846008	134.450104	1546.248657	282.638824	
+2014	16.775	1793100203468	333.393036	1550.744507	275.998322	304.512604	1532.217285	348.816406	183.407532	1533.889282	355.512421	134.829712	1546.223511	282.914581	332.879150	1550.672729	276.118622	303.720306	1532.295532	348.859985	184.638123	1533.777588	355.705750	134.905289	1546.328735	282.557312	
+2015	16.783	1793100203476	333.850647	1550.726318	275.527161	305.025726	1532.310669	348.499695	183.922272	1534.018066	355.336823	135.248917	1546.260010	282.845215	333.292145	1550.649414	275.690765	304.248840	1532.389648	348.507874	185.178467	1533.911621	355.547760	135.328125	1546.364258	282.462524	
+2016	16.791	1793100203485	334.212677	1550.806030	275.224731	305.606567	1532.227417	348.224213	184.520569	1534.169556	355.194702	135.713943	1546.275879	282.764374	333.742157	1550.672485	275.365143	304.792786	1532.411621	348.219391	185.732376	1533.961060	355.420013	135.786453	1546.433472	282.403442	
+2017	16.800	1793100203493	334.750977	1550.835938	274.931305	306.221924	1532.259644	347.843231	185.217422	1534.157837	355.076569	136.279495	1546.354126	282.589600	334.302795	1550.721558	275.025909	305.432312	1532.416626	347.900391	186.380112	1533.972656	355.233795	136.354584	1546.496582	282.280579	
+2018	16.808	1793100203501	335.289734	1550.812134	274.563385	306.852509	1532.307739	347.528564	185.746536	1534.230713	354.976501	136.888275	1546.459106	282.494202	334.834808	1550.703979	274.685272	306.045380	1532.445435	347.603455	187.003296	1534.069702	355.084900	136.893539	1546.590698	282.188995	
+2019	16.816	1793100203510	335.729340	1550.815308	274.254150	307.437653	1532.490356	347.313416	186.289001	1534.287964	354.881409	137.405289	1546.422607	282.326721	335.318665	1550.726562	274.394958	306.596985	1532.594971	347.371490	187.560043	1534.171143	354.944702	137.385635	1546.523560	282.064484	
+2020	16.825	1793100203518	336.407593	1550.950928	273.964661	308.023773	1532.506836	347.014221	186.895370	1534.274414	354.669678	137.854584	1546.474731	282.361237	335.846039	1550.859985	274.102173	307.219696	1532.609131	347.086426	188.191849	1534.143188	354.809967	137.923767	1546.594604	282.011200	
+2021	16.833	1793100203526	336.712952	1550.989868	273.525360	308.607025	1532.708008	346.692261	187.609879	1534.399048	354.495636	138.292297	1546.549438	282.202576	336.283142	1550.926025	273.649292	307.788727	1532.781982	346.711792	188.774338	1534.304565	354.642090	138.375946	1546.633789	281.912659	
+2022	16.841	1793100203535	337.250763	1551.019897	273.219482	309.194397	1532.657837	346.355194	188.343231	1534.546143	354.437958	138.938019	1546.595215	282.246552	336.840515	1550.916992	273.314758	308.469238	1532.794922	346.430603	189.470245	1534.379639	354.576508	138.946426	1546.727539	281.937317	
+2023	16.850	1793100203543	337.784027	1551.047119	272.877075	309.829803	1532.679077	346.089111	188.923187	1534.624023	354.436768	139.486359	1546.676392	282.225189	337.352295	1550.930298	273.004974	309.092682	1532.829468	346.169312	190.107498	1534.456421	354.506714	139.470932	1546.810425	281.947144	
+2024	16.858	1793100203551	338.141144	1551.061890	272.467499	310.404419	1532.865967	345.810791	189.654877	1534.664307	354.261353	139.919876	1546.664307	282.071075	337.807861	1550.977539	272.591858	309.671326	1532.975586	345.828003	190.698196	1534.546509	354.345917	139.942917	1546.756714	281.844940	
+2025	16.866	1793100203560	338.868622	1551.248901	272.030334	311.071747	1532.888916	345.531677	190.194000	1534.574585	354.137146	140.517685	1546.705688	282.076324	338.375427	1551.149658	272.265991	310.355774	1532.991821	345.508423	191.394272	1534.478516	354.202332	140.526581	1546.798096	281.798706	
+2026	16.875	1793100203568	339.223450	1551.085083	271.748566	311.633789	1532.975708	345.114471	190.802963	1534.595337	354.121368	141.015579	1546.812378	282.084106	338.803711	1551.052246	271.888031	310.921265	1532.984253	345.205017	191.979126	1534.570435	354.142761	140.971680	1546.861694	281.832733	
+2027	16.883	1793100203576	339.702148	1551.191284	271.384796	312.288055	1532.942871	344.919342	191.425186	1534.574707	353.957306	141.481400	1546.708618	282.086212	339.288696	1551.123413	271.569672	311.531219	1533.009033	344.922638	192.601669	1534.503296	354.041748	141.475204	1546.781616	281.813599	
+2028	16.891	1793100203585	340.035461	1551.235229	271.043121	312.889587	1532.924927	344.756165	192.073410	1534.601685	353.883728	141.917221	1546.617188	282.089966	339.715881	1551.136719	271.257996	312.095612	1533.048950	344.669281	193.181442	1534.489868	353.995514	141.922745	1546.703491	281.850189	
+2029	16.900	1793100203593	340.682220	1551.265259	270.695648	313.620148	1532.810669	344.186615	192.600311	1534.384644	353.729401	142.543655	1546.526123	282.175964	340.255432	1551.182617	270.838531	312.799194	1532.902222	344.263611	193.904480	1534.266968	353.845795	142.487244	1546.634888	281.839691	
+2030	16.908	1793100203601	341.058929	1551.212891	270.351593	314.122101	1532.697388	343.958344	193.246307	1534.301025	353.652618	143.077805	1546.484375	282.099426	340.712708	1551.117188	270.531647	313.356934	1532.807373	343.986908	194.475922	1534.182373	353.735992	142.959534	1546.588623	281.807404	
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+3711	30.916	1793100217604	98.984634	1579.640381	192.818604	27.988544	1577.779541	154.487381	37.958565	1581.212158	33.844807	117.728600	1577.825195	-4.483377	98.728119	1579.674561	192.616165	28.270811	1577.747192	153.740524	37.791580	1581.253540	34.884766	117.869835	1577.781860	-4.574044	
+3712	30.925	1793100217612	96.138771	1579.957642	190.859695	26.246149	1578.063354	151.017960	38.740417	1581.402588	30.526491	119.281647	1578.109253	-6.087828	96.011368	1580.009033	190.616531	26.420021	1578.003296	150.214981	38.526573	1581.468994	31.593512	119.449020	1578.051636	-6.108701	
+3713	30.933	1793100217621	93.493774	1580.264771	188.807571	24.504938	1578.384766	147.431885	39.561092	1581.495239	27.255875	120.611191	1578.147949	-7.510150	93.376305	1580.328979	188.552841	24.643799	1578.301758	146.707932	39.229881	1581.588623	28.360678	120.921013	1578.073486	-7.636277	
+3714	30.941	1793100217629	90.955147	1580.624023	186.639618	22.728514	1578.706665	143.862579	40.330933	1581.599365	24.021608	122.155540	1578.179199	-8.952978	90.777153	1580.692505	186.427124	22.939268	1578.616211	143.149261	40.012379	1581.700562	25.129660	122.441338	1578.100098	-9.135212	
+3715	30.950	1793100217637	88.331627	1580.894653	184.472626	20.965723	1579.082397	140.192917	41.231995	1581.937744	20.850044	123.639999	1578.428955	-10.477362	88.142174	1580.966553	184.234360	21.238932	1578.983154	139.520981	40.826454	1582.051270	21.892136	123.961792	1578.342651	-10.609267	
+3716	30.958	1793100217646	85.676567	1581.179688	182.298111	19.471537	1579.450562	136.535370	42.368645	1581.942261	17.600773	125.830772	1577.890259	-11.746348	85.533134	1581.226562	182.083679	19.709719	1579.392578	135.789200	42.116669	1582.006958	18.653709	125.987999	1577.836670	-11.838688	
+3717	30.966	1793100217654	83.093651	1581.453247	180.059723	18.083872	1579.721191	132.877914	43.511032	1581.933960	14.595551	127.658249	1577.636963	-12.920889	83.018997	1581.492065	179.922211	18.246368	1579.674561	132.167984	43.277866	1581.985229	15.558737	127.803566	1577.593262	-13.036623	
+3718	30.975	1793100217662	80.840088	1581.778198	177.845352	16.539967	1580.009277	129.211731	44.828125	1582.084717	11.383658	129.569046	1577.534302	-14.014198	80.590614	1581.790161	177.684769	16.908644	1580.008667	128.484207	44.568249	1582.094360	12.465982	129.709717	1577.513428	-14.208411	
+3719	30.983	1793100217671	78.175247	1582.043457	175.503052	15.312261	1580.295654	125.550819	45.985806	1582.128296	8.347279	131.363632	1577.483887	-15.110273	78.067711	1582.070190	175.407455	15.507451	1580.271973	124.788857	45.772991	1582.154541	9.419518	131.488785	1577.454468	-15.324958	
+3720	30.991	1793100217679	75.843750	1582.290405	173.284683	13.863389	1580.450562	121.780891	47.391384	1582.165649	5.371788	133.173737	1577.267944	-16.222481	75.636238	1582.276245	173.093018	14.227458	1580.488525	121.083130	47.082615	1582.138672	6.420818	133.325958	1577.271240	-16.382086	
+3721	31.000	1793100217687	73.314018	1582.923706	171.052307	12.723456	1580.678101	118.155510	48.827942	1582.086548	2.485903	135.085587	1577.285034	-17.067081	73.187302	1582.891724	170.847733	13.003645	1580.741821	117.438293	48.499966	1582.034668	3.561295	135.260101	1577.305298	-17.220684	
+3722	31.008	1793100217696	71.037170	1582.998535	168.730957	11.729260	1580.932617	114.497055	50.204449	1582.016846	-0.311829	137.015717	1577.093628	-17.955383	70.947304	1583.005981	168.529816	11.950768	1580.931396	113.809006	49.951099	1582.023560	0.740827	137.137436	1577.080566	-18.118851	
+3723	31.016	1793100217704	68.798721	1583.057983	166.411499	10.582874	1581.080200	110.811752	51.943195	1581.992798	-3.012273	139.044083	1576.817139	-18.600378	68.627831	1583.057861	166.243546	10.937152	1581.091187	110.143799	51.604496	1581.991821	-1.994451	139.199402	1576.807251	-18.782282	
+3724	31.025	1793100217712	66.558914	1583.327148	164.167465	9.741194	1581.296753	107.282166	54.210346	1581.565918	-6.275692	140.962616	1576.603271	-19.350279	66.477310	1583.394287	163.783386	10.133199	1581.187622	106.340073	53.445896	1581.702271	-4.805667	141.416672	1576.508911	-19.494143	
+3725	31.033	1793100217721	64.343559	1583.499146	161.942001	8.801156	1581.500366	103.773224	55.852188	1581.393188	-8.575872	142.805176	1576.454590	-19.827948	64.263359	1583.604492	161.592957	9.222207	1581.324463	102.902794	55.020813	1581.598389	-7.242763	143.295700	1576.319824	-19.941586	
+3726	31.041	1793100217729	62.322720	1583.833984	159.638763	7.952009	1581.648438	100.189339	57.306831	1581.421631	-10.826069	144.834610	1576.240723	-20.286428	62.172176	1583.894287	159.332062	8.432481	1581.546265	99.450562	56.642082	1581.547485	-9.661609	145.169418	1576.156860	-20.405407	
+3727	31.050	1793100217737	60.269566	1583.975708	157.445801	7.786798	1581.114746	96.675362	58.958778	1581.334351	-13.117416	146.924988	1576.012207	-20.595613	60.306522	1583.886108	157.094635	7.899438	1581.259766	96.054787	58.488205	1581.212036	-11.974865	147.245972	1576.079224	-20.766426	
+3728	31.058	1793100217746	58.164024	1584.438354	154.923218	6.704189	1582.097656	93.086220	60.796570	1581.174927	-15.066428	148.869156	1575.858276	-20.763033	58.033779	1584.524170	154.802414	7.089574	1581.955811	92.534004	60.246780	1581.333984	-14.253431	149.163803	1575.755127	-20.903004	
+3729	31.066	1793100217754	55.980934	1584.584351	152.792557	6.098349	1582.227905	89.840996	62.299446	1581.085083	-16.984720	150.844315	1575.546875	-20.943735	55.964901	1584.659302	152.669144	6.405621	1582.096924	89.292679	61.910492	1581.221680	-16.291756	150.942032	1575.466309	-20.964966	
+3730	31.075	1793100217762	54.143875	1584.815063	150.597565	5.641336	1582.256470	86.447014	64.195137	1580.937500	-18.900627	152.652496	1575.421875	-21.018360	54.104038	1584.877441	150.461090	5.940654	1582.145264	86.024399	63.736488	1581.062622	-18.321659	152.851669	1575.345581	-21.038244	
+3731	31.083	1793100217771	52.161987	1584.971802	148.551941	4.982765	1582.497925	83.190773	65.885971	1580.842773	-20.435654	154.657272	1575.045166	-20.813801	52.063499	1585.039551	148.425888	5.382575	1582.374146	82.904510	65.553238	1580.972534	-20.086540	154.688675	1574.971436	-20.750587	
+3732	31.091	1793100217779	50.437008	1585.184448	146.434006	4.643031	1582.573486	80.217995	67.570625	1580.558838	-22.055090	156.634064	1574.711426	-20.652124	50.352875	1585.263184	146.389359	5.056149	1582.431641	79.910400	67.374878	1580.693237	-21.790062	156.500824	1574.640015	-20.564911	
+3733	31.100	1793100217787	48.523636	1585.374878	144.197922	4.360541	1582.620972	76.974976	69.289047	1580.510620	-23.526539	158.673645	1574.839355	-20.726376	48.566994	1585.465088	144.180969	4.724771	1582.449341	76.741905	69.233086	1580.662354	-23.583145	158.322021	1574.768921	-20.419748	
+3734	31.108	1793100217796	46.781391	1585.553467	142.283173	3.906045	1582.480103	74.036034	71.809288	1580.282104	-26.208656	160.417084	1574.493774	-20.099977	46.746223	1585.577759	141.906860	4.497275	1582.405884	73.465439	71.340736	1580.363647	-25.314173	160.329575	1574.462158	-20.047562	
+3735	31.116	1793100217804	44.965641	1585.733765	140.017853	3.895466	1582.428101	71.085609	73.845100	1580.043457	-27.563526	162.074356	1573.949829	-19.588142	45.031921	1585.703491	139.825836	4.299476	1582.449829	70.474953	73.305374	1580.034180	-26.797762	162.143784	1573.967529	-19.551235	
+3736	31.125	1793100217812	43.522697	1585.753418	138.218460	3.593819	1582.519653	68.237648	75.880951	1579.696533	-28.764301	163.721878	1573.557373	-18.859873	43.427803	1585.762939	137.957565	4.175295	1582.476929	67.759956	75.232513	1579.760620	-28.016476	163.883728	1573.526489	-18.869110	
+3737	31.133	1793100217821	41.749344	1585.805176	136.294510	3.320490	1582.401611	65.518097	77.808960	1579.877930	-30.087723	165.348221	1573.372314	-18.072401	41.651917	1585.715210	136.019623	3.952701	1582.522217	64.971497	77.100922	1579.783203	-29.216965	165.521469	1573.436523	-18.121670	
+3738	31.141	1793100217829	40.162125	1585.995361	134.450821	3.217079	1582.429932	62.910187	79.720062	1579.189575	-30.938585	166.788589	1573.161377	-17.348209	40.082413	1586.005615	134.208008	3.839249	1582.381836	62.426647	78.889984	1579.268188	-30.241165	167.076218	1573.120728	-17.319290	
+3739	31.150	1793100217837	38.361202	1586.111694	132.546524	3.083971	1582.412231	60.393250	81.511978	1579.024414	-31.933973	168.468292	1572.734863	-16.245041	38.323139	1586.085938	132.374344	3.683703	1582.423828	59.807400	80.777229	1579.033325	-31.158108	168.641373	1572.740234	-16.262871	
+3740	31.158	1793100217846	36.816334	1586.181396	130.767166	3.261774	1582.399170	57.757950	83.496704	1578.821899	-32.743370	169.998657	1572.483887	-15.213580	36.813660	1586.151855	130.556107	3.732941	1582.417725	57.269104	82.753769	1578.832520	-32.019669	170.273102	1572.484253	-15.237385	
+3741	31.166	1793100217854	35.291500	1586.259644	129.106079	2.868042	1582.371094	55.539871	85.348557	1578.483521	-33.336914	171.321411	1572.306885	-14.068132	35.182526	1586.263428	128.940491	3.608342	1582.332275	55.002140	84.439400	1578.549927	-32.642963	171.599243	1572.275513	-14.058763	
+3742	31.175	1793100217862	33.829300	1586.359619	127.472786	3.167396	1582.258057	53.207115	87.138885	1578.325073	-33.843151	172.825958	1572.094482	-12.826666	33.779915	1586.332153	127.310112	3.731184	1582.273560	52.745609	86.345573	1578.337769	-33.213696	173.104858	1572.093750	-12.831944	
+3743	31.183	1793100217871	32.407879	1586.507568	125.896835	3.371748	1582.261597	50.974422	88.791031	1578.119141	-34.493176	174.180023	1571.997070	-11.589322	32.393898	1586.493164	125.678345	3.814027	1582.256104	50.548447	88.098999	1578.152832	-33.765476	174.443756	1571.983276	-11.672555	
+3744	31.191	1793100217879	30.935263	1586.648193	124.467484	3.380840	1582.252808	48.874142	90.623009	1577.914307	-34.716316	175.477386	1571.827393	-10.131320	30.910103	1586.631104	124.201820	3.879214	1582.246216	48.509239	89.878098	1577.953491	-34.046173	175.749100	1571.811890	-10.170894	
+3745	31.200	1793100217887	29.539455	1586.792358	123.060829	3.396039	1582.342041	46.870682	92.476646	1577.913696	-35.058968	176.778137	1571.698364	-8.712124	29.525663	1586.752075	122.711266	4.011684	1582.361450	46.494324	91.642319	1577.930664	-34.319485	177.010605	1571.702515	-8.725683	
+3746	31.208	1793100217896	28.236042	1586.864746	121.540520	3.646034	1582.292847	45.067772	94.152428	1577.821411	-35.202480	178.243164	1571.919922	-7.507008	28.356606	1586.853516	121.267471	4.263597	1582.252930	44.601799	93.380508	1577.880981	-34.573269	178.276962	1571.911621	-7.397202	
+3747	31.216	1793100217904	26.802320	1586.973877	120.248299	3.787410	1582.224487	43.220657	95.699158	1577.778809	-35.262699	179.426056	1571.752441	-5.791484	26.940918	1586.918823	119.927299	4.368330	1582.253784	42.804153	95.033249	1577.767578	-34.586918	179.372452	1571.789307	-5.729757	
+3748	31.225	1793100217912	25.523827	1587.012573	119.051804	3.835211	1582.048462	41.516266	97.267410	1577.624023	-35.143452	180.479340	1571.547974	-4.137997	25.626680	1586.917358	118.693939	4.500347	1582.140259	41.168972	96.596718	1577.552246	-34.506908	180.382034	1571.623047	-4.069384	
+3749	31.233	1793100217921	24.312519	1586.961548	117.805984	4.016676	1581.999756	39.905617	98.937050	1577.508789	-34.980930	181.567688	1571.279175	-2.320650	24.377848	1586.854614	117.475403	4.740544	1582.113403	39.557747	98.269577	1577.411987	-34.333031	181.445969	1571.369263	-2.290098	
+3750	31.241	1793100217929	23.134415	1587.012451	116.716263	4.280205	1582.033081	38.418491	100.552345	1577.334717	-34.812351	182.460770	1571.058350	-0.503821	23.199932	1586.912842	116.342979	4.981949	1582.134155	38.083584	99.837921	1577.256592	-34.084171	182.407928	1571.135132	-0.523807	
+3751	31.250	1793100217937	21.855459	1587.104370	115.673431	4.503228	1581.921265	37.096344	102.403336	1577.216187	-34.380524	183.376480	1570.772461	1.484876	21.979599	1586.946411	115.284241	5.269177	1582.106323	36.692905	101.494087	1577.064331	-33.627625	183.395645	1570.897217	1.524608	
+3752	31.258	1793100217946	20.643976	1587.020264	114.658401	4.684829	1581.890747	35.844376	103.982193	1576.978882	-33.810360	184.023834	1570.549561	3.525125	20.722370	1586.891357	114.318840	5.459458	1582.036255	35.434532	102.959885	1576.872559	-33.097462	184.193115	1570.639404	3.561625	
+3753	31.266	1793100217954	19.489416	1587.106689	113.886284	4.982564	1581.899170	34.750431	105.413506	1576.827393	-33.360069	184.923691	1570.403809	5.406258	19.692986	1586.972412	113.449768	5.749912	1582.032959	34.326729	104.380875	1576.733643	-32.557350	184.985413	1570.497925	5.463759	
+3754	31.275	1793100217962	18.247276	1586.975830	113.144089	5.113463	1581.789429	33.581089	106.588875	1576.620728	-32.627052	185.347534	1569.895142	7.561240	18.384554	1586.814087	112.653839	5.818080	1581.977661	33.294182	105.592514	1576.482056	-31.855570	185.501999	1570.007324	7.566913	
+3755	31.283	1793100217971	17.131618	1586.937012	112.392265	5.399624	1581.658813	32.714329	107.841652	1576.223022	-31.696732	185.943130	1569.683594	9.668216	17.284672	1586.813354	111.976280	6.035174	1581.788452	32.430927	106.875618	1576.140259	-31.042948	186.120560	1569.760376	9.713825	
+3756	31.291	1793100217979	16.146349	1586.904907	111.753159	5.595626	1581.508301	31.870207	108.921288	1575.973633	-30.778833	186.383972	1569.500488	11.760772	16.211552	1586.788696	111.373581	6.201159	1581.640015	31.670723	108.016953	1575.888794	-30.217066	186.617569	1569.569824	11.778066	
+3757	31.300	1793100217987	14.926925	1586.642334	111.220276	5.600675	1581.374756	31.305624	111.033211	1575.572632	-30.075609	186.742920	1569.240234	13.926223	15.147304	1586.556396	110.710266	6.518998	1581.415283	30.845484	109.390488	1575.610596	-29.266024	187.246948	1569.247925	14.086783	
+3758	31.308	1793100217996	13.891406	1586.467529	110.702553	5.852702	1581.219116	30.534012	111.868477	1575.459106	-29.025978	187.041412	1569.056030	16.083027	14.041042	1586.380005	110.204239	6.627416	1581.281860	30.214804	110.399879	1575.474731	-28.327343	187.585648	1569.065308	16.201908	
+3759	31.316	1793100218004	12.722075	1586.342407	110.441559	5.901551	1581.014771	30.045494	112.669655	1575.235474	-27.976652	187.376617	1568.815430	18.305267	12.921940	1586.239990	109.871216	6.666448	1581.092651	29.786032	111.274757	1575.234009	-27.243855	187.806747	1568.841553	18.402271	
+3760	31.325	1793100218012	11.710768	1586.088135	110.098801	5.884935	1580.874390	29.734388	113.522453	1574.926880	-26.737112	187.558426	1568.666382	20.422720	11.868863	1586.042358	109.620247	6.714483	1580.864990	29.458588	112.097023	1575.005127	-26.127491	187.996216	1568.643188	20.567455	
+3761	31.333	1793100218021	10.753542	1585.882080	109.807915	6.009402	1580.515625	29.414038	114.213539	1574.772827	-25.664951	187.854462	1568.541382	22.859100	10.826867	1585.813232	109.371742	6.811886	1580.561157	29.149813	112.976318	1574.783203	-24.936775	188.215866	1568.554443	22.831320	
+3762	31.341	1793100218029	9.756772	1585.617920	109.909401	6.003201	1580.251587	29.132059	114.839272	1574.625610	-24.226398	188.048462	1568.362305	25.046909	9.822261	1585.531006	109.352119	6.833977	1580.320435	29.082680	113.682663	1574.614868	-23.647152	188.308807	1568.391113	25.074322	
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+6601	55.000	1793100241678	49.619022	1568.941895	188.348969	62.897987	1559.305420	109.962303	180.482330	1562.712891	79.218178	242.497330	1565.698853	142.508316	49.840206	1568.740356	188.297287	63.809261	1559.647827	109.547981	179.255386	1562.371704	79.641396	242.591812	1565.899292	142.551102	
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+6610	55.075	1793100241753	51.225594	1569.160889	187.237549	64.518654	1559.124146	108.790802	181.912277	1562.236084	77.814339	244.080933	1565.362915	141.251968	51.466469	1568.939209	187.124542	65.341476	1559.487183	108.400940	180.762253	1561.885376	78.368874	244.167267	1565.572266	141.200302	
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+6612	55.091	1793100241769	51.678993	1569.205200	186.906311	65.040535	1559.174194	108.322037	182.479523	1562.135498	77.536896	244.438858	1565.111450	141.080627	51.880383	1568.970947	186.715912	65.833710	1559.550049	108.002403	181.293854	1561.781982	78.109169	244.629974	1565.323486	141.018402	
+6613	55.100	1793100241778	51.794678	1569.215698	186.761078	65.128471	1559.136108	108.239052	182.802582	1562.017090	77.529739	244.754929	1565.104980	140.890610	52.083160	1569.000610	186.592209	66.047287	1559.483765	107.892166	181.511276	1561.683960	78.011444	244.838928	1565.305420	140.924637	
+6614	55.108	1793100241786	52.073490	1569.365356	186.515701	65.378220	1559.112183	108.147697	183.094345	1561.970825	77.440353	244.998260	1565.045044	140.822586	52.322716	1569.130737	186.419449	66.321136	1559.496704	107.739761	181.801163	1561.594849	77.913704	245.099304	1565.271118	140.853424	
+6615	55.116	1793100241794	52.290516	1569.348755	186.421921	65.745956	1559.153076	108.040138	183.255615	1561.821045	77.339005	245.304642	1564.930420	140.699615	52.595203	1569.142334	186.320068	66.579063	1559.486816	107.640434	182.057877	1561.493530	77.803406	245.364594	1565.130737	140.736771	
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+6617	55.133	1793100241811	52.661053	1569.595703	186.011841	66.156105	1559.235962	107.758957	183.750748	1561.673462	77.137848	245.755737	1564.747192	140.539093	52.975101	1569.384521	185.959167	67.024887	1559.578247	107.309914	182.538544	1561.332031	77.592087	245.785110	1564.957397	140.586594	
+6618	55.141	1793100241819	53.068672	1569.555542	185.907791	66.464729	1559.156128	107.504097	184.018860	1561.552856	77.001808	245.957535	1564.649414	140.478424	53.259624	1569.340332	185.798981	67.325134	1559.503540	107.156349	182.846054	1561.219238	77.464500	246.078995	1564.851074	140.472305	
+6619	55.150	1793100241828	53.312122	1569.687988	185.832657	66.651833	1559.177856	107.462692	184.457092	1561.545044	76.994370	246.206085	1564.634888	140.450424	53.515423	1569.459351	185.718491	67.611908	1559.546997	107.090897	183.146729	1561.188965	77.449013	246.353088	1564.850708	140.481735	
+6620	55.158	1793100241836	53.504074	1569.662842	185.688309	66.893921	1559.246948	107.200157	184.689911	1561.475464	76.836708	246.415771	1564.516724	140.375137	53.706120	1569.447998	185.514847	67.839310	1559.588013	106.887276	183.392517	1561.155029	77.313103	246.565750	1564.710938	140.385086	
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+7433	61.933	1793100248608	103.654968	1599.681152	214.155640	142.017899	1624.621094	146.837753	262.331329	1622.311523	155.918945	300.755341	1587.686768	227.592422	103.956360	1599.842285	213.585739	142.325104	1624.565430	147.284424	261.286621	1622.266968	155.799316	301.191437	1587.625854	227.835281	
+7434	61.941	1793100248617	103.633354	1599.480835	213.040161	141.969391	1624.217285	145.513947	262.419220	1622.004395	154.579620	300.718262	1588.321899	226.859573	103.944946	1599.767700	212.432571	142.320908	1623.984741	145.948868	261.278717	1622.074829	154.610199	301.195618	1588.197144	227.001678	
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+7436	61.958	1793100248633	103.562874	1599.021484	210.484741	142.038116	1623.202393	142.981384	262.494659	1620.969482	151.951324	300.711609	1588.440186	224.814743	103.937347	1599.381104	209.971466	142.369049	1622.847778	143.251297	261.317963	1621.183594	152.084106	301.182892	1588.221069	224.925323	
+7437	61.966	1793100248642	103.514992	1598.712769	209.314880	141.577896	1621.994385	141.888687	262.586395	1620.465820	150.714081	300.857208	1588.375244	223.832611	103.901009	1598.900635	208.975754	142.251343	1621.860352	142.032745	261.207825	1620.514893	150.817810	301.176331	1588.272217	223.923965	
+7438	61.975	1793100248650	103.668159	1598.627075	208.114868	141.539154	1621.455078	140.630981	262.497711	1620.276245	149.469727	300.964661	1588.419434	222.729843	103.948235	1598.735107	207.832489	142.262344	1621.417480	140.774307	261.221741	1620.239258	149.543854	301.237366	1588.385986	222.794769	
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+7924	66.025	1793100252698	97.371201	1576.431396	204.030182	120.949493	1573.536255	126.948875	241.009949	1575.156128	112.376740	294.498383	1569.835327	182.575851	97.705940	1576.209839	203.792679	121.555611	1573.896362	126.947998	239.943542	1574.827393	112.351418	294.623932	1570.025635	182.839554	
+7925	66.033	1793100252707	97.458923	1576.506714	204.202545	121.129517	1573.716797	127.058182	241.311661	1575.479980	112.494240	294.599792	1569.964722	182.658890	97.865791	1576.260132	203.904602	121.727776	1574.119263	127.058746	240.117676	1575.114136	112.482285	294.788635	1570.174927	182.968231	
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+7927	66.050	1793100252723	97.691566	1576.719116	204.282730	121.307442	1574.111694	127.164421	241.657669	1575.735962	112.712639	294.939545	1570.283936	182.868576	98.110619	1576.517944	204.003891	122.020157	1574.437256	127.171165	240.419037	1575.444580	112.668724	295.046448	1570.450806	183.184586	
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+7929	66.066	1793100252740	97.960136	1576.809937	204.393890	121.672203	1574.503296	127.235405	241.895477	1576.122681	112.876526	295.339935	1570.548828	183.017715	98.414597	1576.634033	204.108841	122.346199	1574.785034	127.277061	240.748779	1575.873413	112.810677	295.358185	1570.692261	183.326965	
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+8022	66.841	1793100253515	88.559807	1573.590820	189.100433	109.008728	1571.906982	110.742592	228.376450	1576.191406	91.641228	284.594025	1572.081055	159.709473	88.795151	1573.476685	188.667282	109.631500	1572.120728	110.928810	227.291794	1575.996338	91.676140	284.820557	1572.176392	159.921494	
+8023	66.850	1793100253523	88.587410	1573.657471	189.053711	109.045158	1572.016602	110.706123	228.446808	1576.205322	91.368744	284.607788	1572.011841	159.496338	88.875076	1573.549438	188.599854	109.644905	1572.223389	110.843056	227.292114	1576.013550	91.493713	284.875092	1572.104736	159.688293	
+8024	66.858	1793100253531	88.555809	1573.789062	189.094086	108.937408	1572.036133	110.687096	228.445297	1576.125366	91.388893	284.643616	1572.035889	159.357590	88.877472	1573.685425	188.625168	109.603104	1572.233398	110.858833	227.240921	1575.947998	91.437775	284.860626	1572.119751	159.605881	
+8025	66.866	1793100253540	88.768410	1573.812012	188.988510	108.882713	1572.185059	110.647118	228.374023	1576.180664	91.285530	284.523224	1571.931519	159.183624	88.908157	1573.713135	188.587509	109.573090	1572.375488	110.802971	227.199570	1576.010864	91.298477	284.867554	1572.009766	159.415833	
+8026	66.875	1793100253548	88.619186	1573.941406	188.968414	109.067215	1572.264038	110.601967	228.417282	1576.256226	91.185509	284.582733	1571.969727	159.098602	88.936447	1573.830444	188.513977	109.610542	1572.472412	110.732224	227.240555	1576.067627	91.241562	284.898895	1572.060791	159.366730	
+8027	66.883	1793100253556	88.763771	1574.074585	188.809097	108.794113	1572.322144	110.519920	228.374191	1576.282593	91.073624	284.588684	1571.986450	158.981857	88.918999	1573.955200	188.437775	109.556160	1572.545898	110.647133	227.178589	1576.079590	91.099586	284.867004	1572.084961	159.199997	
+8028	66.891	1793100253565	88.771133	1574.159912	188.884506	108.808609	1572.466309	110.445107	228.399231	1576.335693	90.991890	284.622894	1571.977539	158.847900	88.970375	1574.047729	188.437820	109.559593	1572.677490	110.633774	227.172516	1576.146606	91.017517	284.899414	1572.067505	159.080307	
+8029	66.900	1793100253573	88.840187	1574.307373	188.853088	108.935493	1572.534180	110.423531	228.328201	1576.406372	90.797272	284.625122	1572.023315	158.794540	89.025276	1574.182251	188.402298	109.579079	1572.766602	110.589699	227.184158	1576.191772	90.918770	284.940491	1572.130493	158.957657	
+8030	66.908	1793100253581	88.776215	1574.397339	188.848602	108.939980	1572.634521	110.354637	228.296692	1576.412598	90.712624	284.671112	1572.011475	158.640030	89.037552	1574.278076	188.364517	109.555115	1572.854980	110.542488	227.153244	1576.211304	90.818268	284.938110	1572.111572	158.830627	
+8031	66.916	1793100253590	88.808495	1574.527710	188.776199	108.788261	1572.661621	110.232445	228.265503	1576.436890	90.627663	284.755066	1572.105957	158.606720	89.024055	1574.403442	188.291306	109.536827	1572.889648	110.469734	227.133575	1576.228149	90.734230	284.922852	1572.211060	158.747757	
+8032	66.925	1793100253598	88.766441	1574.451660	188.687012	108.745888	1572.682251	110.215508	228.311676	1576.481812	90.550705	284.712646	1572.121704	158.513123	89.004799	1574.336182	188.224304	109.516388	1572.898438	110.400970	227.111908	1576.283813	90.666191	284.903534	1572.218994	158.674881	
+8033	66.933	1793100253606	88.738869	1574.500977	188.630325	108.829414	1572.739990	110.198982	228.266602	1576.444336	90.516037	284.742126	1572.138306	158.426743	89.021248	1574.401001	188.186371	109.522964	1572.927856	110.361099	227.116974	1576.274414	90.610710	284.915833	1572.220337	158.613907	
+8034	66.941	1793100253615	88.834496	1574.542847	188.445694	108.870575	1572.803467	110.112251	228.232956	1576.558472	90.326958	284.684601	1572.148926	158.340881	89.033325	1574.429932	188.051208	109.533913	1573.014893	110.224556	227.128128	1576.361694	90.475349	284.927246	1572.247070	158.474670	
+8035	66.950	1793100253623	88.775253	1574.554932	188.281006	108.902634	1572.944336	109.970146	228.198227	1576.572021	90.294380	284.681976	1572.177612	158.188492	89.003700	1574.470947	187.904984	109.524536	1573.105347	110.082787	227.125092	1576.427612	90.367271	284.904785	1572.244995	158.378983	
+8036	66.958	1793100253631	88.708069	1574.611206	188.169693	108.922211	1572.945801	109.929520	228.181808	1576.592163	90.171028	284.693390	1572.215210	158.176956	88.977562	1574.521729	187.810623	109.518166	1573.116333	109.994354	227.123520	1576.435059	90.306854	284.886230	1572.291382	158.335358	
+8037	66.966	1793100253640	88.606934	1574.566650	188.018723	108.946297	1572.917114	109.774773	228.226868	1576.647339	90.138283	284.705475	1572.256470	158.144379	88.930710	1574.469482	187.645737	109.535362	1573.099731	109.845764	227.155182	1576.479126	90.255241	284.864319	1572.339111	158.329407	
+8038	66.975	1793100253648	88.548965	1574.578125	187.912796	108.867203	1572.880005	109.594254	228.327927	1576.672363	90.084801	284.700623	1572.333252	158.009506	88.904236	1574.474487	187.498917	109.534012	1573.074097	109.706154	227.158447	1576.496948	90.150917	284.848022	1572.418091	158.245361	
+8039	66.983	1793100253656	88.518028	1574.598755	187.778839	108.971840	1572.899048	109.463509	228.274048	1576.674561	89.985542	284.694641	1572.381592	157.910950	88.896164	1574.501709	187.363235	109.543602	1573.080200	109.575539	227.172012	1576.511597	90.045700	284.846771	1572.460571	158.154358	
+8040	66.991	1793100253665	88.674927	1574.500488	187.675629	109.007622	1572.884155	109.320854	228.368851	1576.694580	89.940155	284.723267	1572.359375	157.926819	88.951477	1574.407349	187.253616	109.635223	1573.061035	109.474236	227.271912	1576.535522	90.001991	284.916016	1572.434937	158.133621	
+8041	67.000	1793100253673	88.527534	1574.529175	187.481827	109.017525	1572.929077	109.130188	228.427643	1576.706543	89.829971	284.699005	1572.413452	157.815689	88.888359	1574.446289	187.037094	109.629143	1573.088745	109.273094	227.279922	1576.565186	89.886497	284.874268	1572.477905	158.060989	
+8042	67.008	1793100253681	88.617523	1574.552124	187.489624	109.120995	1572.859741	109.003922	228.513168	1576.692139	89.708809	284.697968	1572.427124	157.738663	88.964371	1574.455688	186.969147	109.695389	1573.042847	109.203529	227.342957	1576.528198	89.799088	284.946930	1572.504517	157.969238	
+8043	67.016	1793100253690	88.654236	1574.545410	187.315735	109.230453	1572.833252	108.832924	228.580566	1576.703491	89.544533	284.830261	1572.398315	157.746414	89.017921	1574.438965	186.786484	109.799156	1573.032837	109.034142	227.459259	1576.519287	89.705994	285.019165	1572.489380	157.912979	
+8044	67.025	1793100253698	88.667931	1574.483887	187.131592	109.203217	1572.791992	108.692200	228.624329	1576.671753	89.487999	284.767731	1572.397949	157.666534	88.983871	1574.383545	186.625961	109.805008	1572.982666	108.884209	227.474075	1576.497803	89.615944	285.000244	1572.481689	157.852203	
+8045	67.033	1793100253706	88.598434	1574.516235	186.952087	109.297112	1572.788940	108.557076	228.736267	1576.537720	89.360786	284.835083	1572.392090	157.642471	88.994339	1574.440063	186.438248	109.877083	1572.939209	108.714890	227.562347	1576.401489	89.536171	285.033112	1572.454224	157.823120	
+8046	67.041	1793100253715	88.756111	1574.469116	186.772644	109.287598	1572.621582	108.461418	228.725784	1576.548218	89.352066	284.853729	1572.389893	157.617310	89.017235	1574.358276	186.332886	109.925369	1572.828735	108.616913	227.614380	1576.357178	89.473259	285.066254	1572.484497	157.780380	
+8047	67.050	1793100253723	88.740623	1574.468994	186.640060	109.386497	1572.587402	108.346092	228.751709	1576.469727	89.265404	284.763763	1572.398193	157.541168	89.000488	1574.368896	186.192139	109.941727	1572.776978	108.486328	227.638657	1576.296143	89.389793	285.061707	1572.482300	157.724457	
+8048	67.058	1793100253731	88.758385	1574.408691	186.353668	109.461678	1572.443481	108.140686	228.930069	1576.437744	89.193878	284.997467	1572.359619	157.523712	89.067108	1574.285767	185.942429	110.100151	1572.669800	108.261909	227.817993	1576.228149	89.302010	285.162323	1572.465942	157.705582	
+8049	67.066	1793100253740	88.792725	1574.378296	186.226883	109.554245	1572.399658	108.023476	229.018982	1576.340820	89.099632	285.045990	1572.293823	157.413010	89.123238	1574.261963	185.812424	110.171349	1572.614624	108.136642	227.893661	1576.142944	89.198837	285.223694	1572.393188	157.615097	
+8050	67.075	1793100253748	88.917099	1574.339355	186.057007	109.553474	1572.397827	107.831650	229.126465	1576.349365	89.065781	284.978821	1572.278198	157.385193	89.127472	1574.224121	185.642136	110.232033	1572.612915	107.980919	227.967941	1576.153442	89.130211	285.248413	1572.374268	157.586365	
+8051	67.083	1793100253756	88.933044	1574.233398	185.836121	109.666985	1572.317261	107.615501	229.149094	1576.275146	88.938515	285.123596	1572.279541	157.358063	89.162384	1574.131104	185.425217	110.327843	1572.509399	107.780785	228.076675	1576.099731	89.020355	285.305817	1572.365112	157.521835	
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+8053	67.100	1793100253773	89.015343	1574.128540	185.565277	109.839851	1572.189331	107.351517	229.389923	1576.138062	88.816223	285.183563	1572.235962	157.313492	89.236977	1574.036743	185.135956	110.501907	1572.365356	107.519775	228.273438	1575.978516	88.906853	285.416382	1572.311157	157.483917	
+8054	67.108	1793100253781	88.917007	1574.060791	185.496582	110.036537	1572.140137	107.259865	229.490509	1576.181641	88.808212	285.237457	1572.173462	157.325470	89.258507	1573.948730	185.023438	110.587807	1572.348389	107.423409	228.374313	1575.990479	88.911125	285.460876	1572.268311	157.532166	
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+8058	67.141	1793100253815	89.125008	1573.988647	184.987167	110.185562	1571.931763	106.929382	229.803970	1575.931641	88.626442	285.398041	1572.113892	157.202301	89.388985	1573.887207	184.599380	110.837944	1572.124023	107.035881	228.651825	1575.756592	88.696724	285.633820	1572.198242	157.413315	
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+8060	67.158	1793100253831	89.193024	1573.967285	184.787399	110.267708	1571.788574	106.743462	229.913956	1575.872314	88.610893	285.518890	1572.067139	157.205765	89.436119	1573.841919	184.414062	110.959778	1572.018677	106.872643	228.790390	1575.661621	88.643356	285.707275	1572.172974	157.417450	
+8061	67.166	1793100253840	89.234543	1574.035156	184.740128	110.468704	1571.716919	106.669579	229.970261	1575.806641	88.527756	285.613770	1572.078003	157.181610	89.524734	1573.899414	184.338806	111.063614	1571.961914	106.804382	228.897705	1575.580566	88.592781	285.801208	1572.195068	157.383102	
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+8063	67.183	1793100253856	89.262459	1573.911133	184.688385	110.750481	1571.651245	106.525627	230.097046	1575.645386	88.500610	285.566986	1571.945557	157.077545	89.599083	1573.793701	184.215729	111.173409	1571.863525	106.690987	229.016891	1575.453979	88.534653	285.887573	1572.041992	157.350784	
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+8065	67.200	1793100253873	89.314545	1573.920898	184.570206	110.757347	1571.564331	106.386292	230.262207	1575.641479	88.436028	285.762054	1571.890015	157.088882	89.675316	1573.776123	184.086838	111.293915	1571.822388	106.575012	229.147827	1575.405396	88.484962	285.979095	1572.012817	157.334610	
+8066	67.208	1793100253881	89.323944	1573.884888	184.549545	110.765785	1571.517944	106.304977	230.358017	1575.593384	88.488464	285.782684	1571.809326	157.056168	89.693443	1573.732910	184.038544	111.335777	1571.787231	106.533150	229.196014	1575.349976	88.480339	286.005188	1571.935303	157.347122	
+8067	67.216	1793100253890	89.430710	1573.914185	184.554398	110.859024	1571.489624	106.273453	230.370163	1575.609131	88.472557	285.825562	1571.803223	157.076721	89.757355	1573.747070	184.033173	111.399467	1571.782959	106.528183	229.259628	1575.342041	88.474174	286.069031	1571.944092	157.341599	
+8068	67.225	1793100253898	89.497078	1573.860229	184.450867	110.916054	1571.541626	106.245361	230.519897	1575.655396	88.466698	285.926666	1571.827759	157.113052	89.824020	1573.706909	183.960327	111.508041	1571.814453	106.465271	229.377350	1575.406860	88.477722	286.150269	1571.956665	157.372635	
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+}
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+ },
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+    0.3403,
+    -0.8079
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+   "usable": true
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+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 3.607,
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+   "rotvec_deg": [
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+    0.0386
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 3238,
+   "position_fitted": true,
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+    8.49,
+    6.93
+   ],
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+   "rotvec_deg": [
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+    -0.0725,
+    -0.6236
+   ],
+   "split_deg": 0.0273,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 4418,
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+    0.0166,
+    -2.1173
+   ],
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+   "usable": true
+  }
+ },
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+ "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": {
+   "sha256": "520d0611238b04627df68825b45e259bab25120693d95ad25c7e1e7f666b8b21",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "acf5987fd0d24a93a75c28e291a5fbcf8b336a4f15647620cdf183fb2c63b55a",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "1218e94e82376b67",
+ "kind": "online_calibration",
+ "output_sha256": "c66933c82c365e56227f4c414d285940a2ce3ec3c6c69093eaf09bf465f4daeb",
+ "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": 28.182,
+  "left_eye": 34.881,
+  "left_front": 40.527,
+  "right": 42.557,
+  "right_eye": 34.076,
+  "right_front": 39.887
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   7100552484000,
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_posture_dynamics/D41/session_001/cameras/slam.npz b/actions/locomotion_posture_dynamics/D41/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24eaca69293ad7048cb9ef1bf1f9210b1218a69a
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f65cec043bb1c1d4d595cbaba123b27fd10945e9b29034e5656ad7cb7155ec
+size 657696
diff --git a/actions/locomotion_posture_dynamics/D41/session_001/meta.json b/actions/locomotion_posture_dynamics/D41/session_001/meta.json
index 73f0238294027f98bfadd9706df023f2dd3fb653..eb89c76b0a4861c40917e8981db6dc097c772afb 100644
--- a/actions/locomotion_posture_dynamics/D41/session_001/meta.json
+++ b/actions/locomotion_posture_dynamics/D41/session_001/meta.json
@@ -361,8 +361,8 @@
   "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": {
@@ -547,10 +547,124 @@
   "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": 5.85,
+    "offset_rotvec": [
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+     0.0292,
+     -0.0259
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+     "p90": 16.77
+    },
+    "samples": 3009,
+    "accepted": 2953,
+    "wrist_pos_err_mm_median": 24.5,
+    "per_camera": {
+     "head": {
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+      "accepted": 2953,
+      "gate_deg": 30.0,
+      "offset_deg": 5.85,
+      "tier": "primary",
+      "dev_deg_median": 8.23,
+      "wrist_pos_err_mm_median": 24.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12354,
+     "interpolated": 1154,
+     "mean_hand": 132,
+     "no_body_fit": 44
+    },
+    "observed_fraction": 0.9871,
+    "observed_fraction_of_valid": 0.9903,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.57,
+     "smplx": 4.46
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 14.0
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+     }
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+    "accepted": 2823,
+    "wrist_pos_err_mm_median": 45.5,
+    "per_camera": {
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+      "accepted": 2823,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 45.5
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+     "smplx": 3.31
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.8,
+      "p90": 12.4
+     },
+     "registered": {
+      "median": 7.6,
+      "p90": 12.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:37:58.537716+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_posture_dynamics/D41/session_001",
   "family": "locomotion_posture_dynamics",
   "primitive": "D41",
   "source_session": "20260904/D41/20260904_072028_session33"
+ },
+ "task": {
+  "primitive": "D41",
+  "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D41/session_001/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..115fa923bb6d41657a26d421c2dfbfc109c4bf12
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c81ded1cc5e1c6fc071edc192a1b326141bf13aa07d1b1ad5205ccff96b0f0f9
+size 4188595
diff --git a/actions/locomotion_posture_dynamics/D41/session_001/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_001/motions/smplx.npz
index cc8d1300b74a5c33d1ee6e452b3b2f76ea27e5ab..6d727dfaf33d614c6cbab957dd70eb027463ec06 100644
--- a/actions/locomotion_posture_dynamics/D41/session_001/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D41/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5b29b9214f0107bfe1c265f0ff4cac30828eb909266a81e03fa8835babcc9d4b
-size 5276877
+oid sha256:d3bdb4cf64e7a4358a99720577d1cc3394c3013d81e82a3132a656681a557efb
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diff --git a/actions/locomotion_posture_dynamics/D41/session_002/annotations.json b/actions/locomotion_posture_dynamics/D41/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..224dd9c626e379fb2626b328e5a0aa84e09da566
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_002/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "D41",
+ "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.9665,
+   "video": "left_eye",
+   "video_t_start": 0.03889409144488787
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3c7e6a7f-f22d-4a55-b980-05c5d47da62b",
+   "segment": "segment1",
+   "action": "D41",
+   "quality": "valid",
+   "start_s": 0.689,
+   "end_s": 98.254,
+   "t_start": 0.7279,
+   "t_end": 98.2929,
+   "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D41/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D41/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..147adb3eeb84f34370eb7238455c76c5dca886c0
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 224,
+    "median_px": 15.33,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.391
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 4.674,
+   "inliers": 1680,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.1866,
+    0.047
+   ],
+   "split_deg": 0.0148,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 2.51,
+   "inliers": 4123,
+   "position_fitted": true,
+   "position_mm": [
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+    5.65,
+    4.18
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+    0.2866,
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+   ],
+   "split_deg": 0.0304,
+   "usable": true
+  },
+  "left_front": {
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+   "against": [
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+    "right_front",
+    "left_eye",
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+   "position_fitted": false,
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+    0.0382
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+   "inliers": 3896,
+   "position_fitted": true,
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+    6.01,
+    5.3
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+    0.0076,
+    -2.1238
+   ],
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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": "d1518ca31e6c9cea01bcb9169709772925952e1bebb028e6bba84fb2c67f5727",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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diff --git a/actions/locomotion_posture_dynamics/D41/session_002/cameras/slam.npz b/actions/locomotion_posture_dynamics/D41/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..44aacc97ba993d658f2b0d5541cc32c0854aa437
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 599410
diff --git a/actions/locomotion_posture_dynamics/D41/session_002/meta.json b/actions/locomotion_posture_dynamics/D41/session_002/meta.json
index bee5504711b852b1ef229dc14ff2c7fa4908d6a5..17aba282ff7f8f6d2077fe263afd3f6827045c31 100644
--- a/actions/locomotion_posture_dynamics/D41/session_002/meta.json
+++ b/actions/locomotion_posture_dynamics/D41/session_002/meta.json
@@ -350,8 +350,8 @@
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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",
    "hand_marker_offsets_m": {
     "left": {
@@ -578,10 +578,124 @@
   },
   "applied": 2
  },
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+     "mean_hand": 734,
+     "no_body_fit": 45
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+    "observed_fraction_of_valid": 0.941,
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+  "cameras_used": [
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+  "wrist_flip_suspect": []
+ },
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   "family": "locomotion_posture_dynamics",
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D41/session_002/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_002/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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diff --git a/actions/locomotion_posture_dynamics/D41/session_002/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_002/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..e0a8424e3d93ac14f71c488c296a053bbe42ef5b
--- /dev/null
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+ "primitive": "D41",
+ "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.",
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+   "video": "left_eye",
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+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D41/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D41/session_003/cameras/gsi_online_calibration.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,270 @@
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diff --git a/actions/locomotion_posture_dynamics/D41/session_003/cameras/slam.npz b/actions/locomotion_posture_dynamics/D41/session_003/cameras/slam.npz
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--- a/actions/locomotion_posture_dynamics/D41/session_003/meta.json
+++ b/actions/locomotion_posture_dynamics/D41/session_003/meta.json
@@ -319,8 +319,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -504,10 +504,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3878556701756275
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     -0.0903,
+     0.1418,
+     -0.176
+    ],
+    "dev_deg": {
+     "median": 10.0,
+     "p90": 17.82
+    },
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+    "accepted": 3250,
+    "wrist_pos_err_mm_median": 64.0,
+    "per_camera": {
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+      "accepted": 3250,
+      "gate_deg": 30.0,
+      "offset_deg": 13.95,
+      "tier": "primary",
+      "dev_deg_median": 10.0,
+      "wrist_pos_err_mm_median": 64.0
+     }
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+     "interpolated": 290,
+     "mean_hand": 354,
+     "no_body_fit": 6
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+    "observed_fraction_of_valid": 0.9741,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.28,
+     "smplx": 1.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.4,
+      "p90": 7.3
+     },
+     "registered": {
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+      "p90": 7.5
+     }
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+      "offset_deg": 6.72,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 35.6
+     }
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+    "palm_axis_vs_markers_deg": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T14:42:20.932250+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_posture_dynamics/D41/session_003",
   "family": "locomotion_posture_dynamics",
   "primitive": "D41",
   "source_session": "20260908/D41/20260908_030903_session44"
+ },
+ "task": {
+  "primitive": "D41",
+  "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D41/session_003/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..afe5dd699f879f86dd172edf26f31f315f139dba
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4250325
diff --git a/actions/locomotion_posture_dynamics/D41/session_003/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_003/motions/smplx.npz
index 8424483c2a0c4f90cc8104c1f0c1ea97cccc1a07..00863354dac914de6ab72df0eea49a142632762a 100644
--- a/actions/locomotion_posture_dynamics/D41/session_003/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D41/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D41/session_004/annotations.json b/actions/locomotion_posture_dynamics/D41/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c22e11180aa529d142dbac27b17e3f9213e13e42
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_004/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "D41",
+ "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "action": "D41",
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+   "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_posture_dynamics/D41/session_004/cameras/slam.npz b/actions/locomotion_posture_dynamics/D41/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f41fad49f6cedbc770c8dba36a9e969e9738082e
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_posture_dynamics/D41/session_004/meta.json b/actions/locomotion_posture_dynamics/D41/session_004/meta.json
index 63b329cb9df11bd7a7579bad82f1288b179da2e1..24c0e9df0ec3ab9c3275bcbb22bd58961bea7d75 100644
--- a/actions/locomotion_posture_dynamics/D41/session_004/meta.json
+++ b/actions/locomotion_posture_dynamics/D41/session_004/meta.json
@@ -317,8 +317,8 @@
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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,
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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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@@ -497,10 +497,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0288110008356517
  },
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+      "offset_deg": 8.39,
+      "tier": "primary",
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   "family": "locomotion_posture_dynamics",
   "primitive": "D41",
   "source_session": "20260908/D41/20260908_041000_session63"
+ },
+ "task": {
+  "primitive": "D41",
+  "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D41/session_004/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_004/motions/hands_mano.npz
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new file mode 100644
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--- /dev/null
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+{
+ "schema_version": 1,
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+ "primitive": "D41",
+ "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.",
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+}
diff --git a/actions/locomotion_posture_dynamics/D41/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D41/session_005/cameras/gsi_online_calibration.json
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
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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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index ae64b774ff842d06a2155e55ba22a108818d2d05..f74572c106f9784152f8b0287bf169c9bc1b5184 100644
--- a/actions/locomotion_posture_dynamics/D41/session_005/meta.json
+++ b/actions/locomotion_posture_dynamics/D41/session_005/meta.json
@@ -319,8 +319,8 @@
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   "hands": {
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@@ -500,10 +500,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
diff --git a/actions/locomotion_posture_dynamics/D41/session_005/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_005/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
index 0000000000000000000000000000000000000000..99078b09c12f69cba3cf696e36fe889f57831c4d
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_006/annotations.json
@@ -0,0 +1,28 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "D41",
+ "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.",
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diff --git a/actions/locomotion_posture_dynamics/D41/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_posture_dynamics/D41/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ddfc084d2a137d528a6c64743eb8db21877806d
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
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diff --git a/actions/locomotion_posture_dynamics/D41/session_006/cameras/slam.npz b/actions/locomotion_posture_dynamics/D41/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b2b33a671ece899c264b360537115c88613fedb
--- /dev/null
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@@ -0,0 +1,3 @@
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@@ -499,10 +499,124 @@
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  }
 }
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--- /dev/null
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--- a/actions/locomotion_posture_dynamics/D41/session_007/meta.json
+++ b/actions/locomotion_posture_dynamics/D41/session_007/meta.json
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@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+  "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
  }
 }
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new file mode 100644
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  }
 }
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new file mode 100644
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+++ b/actions/locomotion_posture_dynamics/D41/session_009/meta.json
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@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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  }
 }
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+ "primitive": "D41",
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+}
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new file mode 100644
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+    "accepted": 3411,
+    "wrist_pos_err_mm_median": 91.3,
+    "per_camera": {
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+      "accepted": 3411,
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+      "offset_deg": 17.8,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 91.3
+     }
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+     "interpolated": 26,
+     "mean_hand": 5,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.75
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T16:57:02.734321+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_posture_dynamics/D41/session_011",
   "family": "locomotion_posture_dynamics",
   "primitive": "D41",
   "source_session": "20260912/D41/20260912_113754_session16"
+ },
+ "task": {
+  "primitive": "D41",
+  "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
  }
 }
diff --git a/actions/locomotion_posture_dynamics/D41/session_011/motions/hands_mano.npz b/actions/locomotion_posture_dynamics/D41/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b8afa9252233b2de73e25fa037afd819b3d362c3
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4521957
diff --git a/actions/locomotion_posture_dynamics/D41/session_011/motions/smplx.npz b/actions/locomotion_posture_dynamics/D41/session_011/motions/smplx.npz
index 5efd10d908a567a37becea1b75f6674c0087d07b..ee481f90a0cd38f405374e1c86e7e67a410aab48 100644
--- a/actions/locomotion_posture_dynamics/D41/session_011/motions/smplx.npz
+++ b/actions/locomotion_posture_dynamics/D41/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_posture_dynamics/D41/session_012/annotations.json b/actions/locomotion_posture_dynamics/D41/session_012/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..52f8917246b47cd807463f91f7bd167ece5de045
--- /dev/null
+++ b/actions/locomotion_posture_dynamics/D41/session_012/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "D41",
+ "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop.",
+ "segments": [
+  {
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+   "duration_s": 98.966667,
+   "video": "left_eye",
+   "video_t_start": 0.039227123357250315
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9b17e44f-57a3-49ed-9866-a122121e81e3",
+   "segment": "segment1",
+   "action": "D41",
+   "quality": "valid",
+   "start_s": 1.704,
+   "end_s": 94.716,
+   "t_start": 1.7432,
+   "t_end": 94.7552,
+   "instruction": "Jog continuously clockwise around the taped circle at a comfortable pace; do not stop between laps; keep going until the operator says stop."
+  }
+ ]
+}