diff --git a/actions/locomotion_primitives/P21/session_025/motions/smplx.npz b/actions/locomotion_primitives/P21/session_025/motions/smplx.npz
index 35428aded40726bfb6619bb8f2f8c833d308a5b3..f49a40f0d60d51e6fba89bd89eb67c0d49433251 100644
--- a/actions/locomotion_primitives/P21/session_025/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_025/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 7467064
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+size 13856941
diff --git a/actions/locomotion_primitives/P21/session_026/annotations.json b/actions/locomotion_primitives/P21/session_026/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eb553707fa6f2c694214a03cc7df6a7657dc472
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_026/annotations.json
@@ -0,0 +1,94 @@
+{
+ "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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 193.566611,
+   "video": "left_eye",
+   "video_t_start": 0.039481460452119865
+  }
+ ],
+ "episodes": [
+  {
+   "id": "48296d1c-ea05-4903-add5-56d9d465de4f",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "end_s": 20.962,
+   "t_start": 2.4365,
+   "t_end": 21.0015,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "b5f57ec8-4428-450d-b469-f91b0311625c",
+   "segment": "segment1",
+   "action": "P21",
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+   "end_s": 49.166,
+   "t_start": 27.5595,
+   "t_end": 49.2055,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "4f33dfdf-be7d-402c-a324-22ab7fdf0f99",
+   "segment": "segment1",
+   "action": "P21",
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
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+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "end_s": 100.687,
+   "t_start": 79.8635,
+   "t_end": 100.7265,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "a08f08b9-80a7-4340-bfd9-d643fa29b53b",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
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+   "end_s": 128.887,
+   "t_start": 106.7265,
+   "t_end": 128.9265,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "8bd48ec8-14a6-43d2-a218-d1236038687d",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 136.462,
+   "end_s": 157.833,
+   "t_start": 136.5015,
+   "t_end": 157.8725,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "c34542c3-0913-4fd9-8be8-6460ea2c712f",
+   "segment": "segment1",
+   "action": "P21",
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+   "end_s": 184.469,
+   "t_start": 163.8725,
+   "t_end": 184.5085,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_026/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_026/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..50197d247d95b00c77b5f1f72042bde9509aeff6
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_026/cameras/gsi_online_calibration.json
@@ -0,0 +1,234 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.338
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.5127,
+   "gate_fail": [],
+   "held_out_px_after": 0.448,
+   "held_out_px_before": 19.512,
+   "inliers": 1256,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.1484,
+    -0.2411,
+    -0.9545
+   ],
+   "split_deg": 0.1068,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4818,
+   "gate_fail": [],
+   "held_out_px_after": 0.365,
+   "held_out_px_before": 5.954,
+   "inliers": 2562,
+   "position_fitted": true,
+   "position_mm": [
+    3.05,
+    -26.28,
+    -6.17
+   ],
+   "position_sigma_mm": 0.297,
+   "position_split_mm": 1.516,
+   "rotvec_deg": [
+    1.7443,
+    -0.7704,
+    1.5884
+   ],
+   "split_deg": 0.0421,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.5338,
+   "gate_fail": [],
+   "held_out_px_after": 0.43,
+   "held_out_px_before": 7.08,
+   "inliers": 1319,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.621,
+    -1.1894,
+    2.9061
+   ],
+   "split_deg": 0.0225,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.3295,
+   "gate_fail": [],
+   "held_out_px_after": 0.345,
+   "held_out_px_before": 5.702,
+   "inliers": 2573,
+   "position_fitted": true,
+   "position_mm": [
+    3.05,
+    -13.99,
+    -1.45
+   ],
+   "position_sigma_mm": 0.326,
+   "position_split_mm": 0.526,
+   "rotvec_deg": [
+    2.0587,
+    -1.197,
+    2.3268
+   ],
+   "split_deg": 0.0376,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4249,
+   "gate_fail": [],
+   "held_out_px_after": 0.314,
+   "held_out_px_before": 1.987,
+   "inliers": 3283,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2359,
+    -0.352,
+    0.0314
+   ],
+   "split_deg": 0.0463,
+   "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": "dbb9dfed40cd393500ac7261238814883c5a5293e9ec8130878b527d3c0ee441",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8ac49cc5031e3ea10c9ac1dfd2a55652c4026362c97a275cf3e5d858c7d0c7fd",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "09232f948075c58bd00310496b5795ffe220cdb77d7b5d592da44da526f96b62",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "79783a0d46808a240e65932133a4e520de180becb1238e39d73b61b37124eda6",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "33ea730793adceca",
+ "kind": "online_calibration",
+ "output_sha256": "cdf8255313e4045882223a7cd59a222a83b91635c1bbd38a7aa6f8cc7a91a1ca",
+ "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": 38.024,
+  "left_eye": 33.818,
+  "left_front": 38.094,
+  "right": 36.225,
+  "right_eye": 33.117,
+  "right_front": 37.209
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   5409187072555,
+   5410187161444,
+   5411187094777,
+   5412187072555,
+   5413187072555,
+   5414187072555,
+   5415187072555,
+   5416187228111,
+   5417187150333,
+   5418187072555,
+   5419187072555,
+   5420187061444,
+   5421187228111,
+   5422187072555,
+   5423187072555,
+   5424187217000,
+   5425187061444,
+   5426187117000,
+   5427187072555,
+   5428187094777,
+   5429187150333,
+   5430187072555,
+   5431187105888,
+   5432187072555,
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+   5434187083666,
+   5435187172555,
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+   5439187094777,
+   5440187139222,
+   5441187105888,
+   5442187094777,
+   5443187150333
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_026/cameras/slam.npz b/actions/locomotion_primitives/P21/session_026/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4bd66e76427d31f8e1d2a9d40b71ef08c4edd59e
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_026/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f77b0f3e39d0d343dc19a0587d10610ccdd500c90566db69dc83f39a557a6224
+size 1109565
diff --git a/actions/locomotion_primitives/P21/session_026/meta.json b/actions/locomotion_primitives/P21/session_026/meta.json
index 4e7827716eac506189aff8533265e597d9af386f..9fd68a82c54836e65b66ba17ffea445dc59b60e1 100644
--- a/actions/locomotion_primitives/P21/session_026/meta.json
+++ b/actions/locomotion_primitives/P21/session_026/meta.json
@@ -380,8 +380,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 30.21,
+    "offset_rotvec": [
+     0.2584,
+     -0.432,
+     -0.1569
+    ],
+    "dev_deg": {
+     "median": 13.96,
+     "p90": 27.69
+    },
+    "samples": 4790,
+    "accepted": 4455,
+    "wrist_pos_err_mm_median": 37.9,
+    "per_camera": {
+     "head": {
+      "samples": 4790,
+      "accepted": 4455,
+      "gate_deg": 30.0,
+      "offset_deg": 30.21,
+      "tier": "primary",
+      "dev_deg_median": 13.96,
+      "wrist_pos_err_mm_median": 37.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 18170,
+     "interpolated": 4566,
+     "mean_hand": 491,
+     "no_body_fit": 9
+    },
+    "observed_fraction": 0.9785,
+    "observed_fraction_of_valid": 0.9789,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.09,
+     "smplx": 0.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.5,
+      "p90": 5.8
+     },
+     "registered": {
+      "median": 4.4,
+      "p90": 5.1
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 23.68,
+    "offset_rotvec": [
+     0.2861,
+     0.2676,
+     0.1315
+    ],
+    "dev_deg": {
+     "median": 9.6,
+     "p90": 33.7
+    },
+    "samples": 4439,
+    "accepted": 3887,
+    "wrist_pos_err_mm_median": 53.0,
+    "per_camera": {
+     "head": {
+      "samples": 4439,
+      "accepted": 3887,
+      "gate_deg": 30.0,
+      "offset_deg": 23.68,
+      "tier": "primary",
+      "dev_deg_median": 9.6,
+      "wrist_pos_err_mm_median": 53.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15802,
+     "interpolated": 5846,
+     "mean_hand": 1579,
+     "no_body_fit": 9
+    },
+    "observed_fraction": 0.9317,
+    "observed_fraction_of_valid": 0.932,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 22.57,
+     "smplx": 0.43
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.0,
+      "p90": 21.5
+     },
+     "registered": {
+      "median": 15.7,
+      "p90": 20.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:39:30.602533+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P21/session_026",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261017/P21/20261017_020910_session17"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_026/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_026/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0278fa52327ff659110d2c43f5d808382e1012de
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_026/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799369bbbdcaa4b2b3c33a2985764550eb1c6f021de67929e83db36af8ebde3c
+size 6311960
diff --git a/actions/locomotion_primitives/P21/session_026/motions/smplx.npz b/actions/locomotion_primitives/P21/session_026/motions/smplx.npz
index aad2fb248153c84dc1d3cbc386a3eff174c8e5cd..fdbab654e4e0ea8d93ed3027b336a8c30b515dcf 100644
--- a/actions/locomotion_primitives/P21/session_026/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_026/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0c5cd469d522f4c101c283a3c127a4de86f4f06fc8edc0bdc93e6d4e56415755
-size 8915954
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diff --git a/actions/locomotion_primitives/P21/session_027/annotations.json b/actions/locomotion_primitives/P21/session_027/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a799dccf6004bc36aff26066dcc9ed55db7a122
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_027/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 90.316544,
+   "video": "left_eye",
+   "video_t_start": 0.040445882874503805
+  }
+ ],
+ "episodes": [
+  {
+   "id": "9fdb1f97-13bf-4c8e-a647-343c2f25a241",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 2.642,
+   "end_s": 18.052,
+   "t_start": 2.6824,
+   "t_end": 18.0924,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "b729d616-c5a7-4a33-b943-5012eb0321ce",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 18.052,
+   "end_s": 32.052,
+   "t_start": 18.0924,
+   "t_end": 32.0924,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "8ebf18de-0e15-4b01-bd19-cb4429af638a",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 32.052,
+   "end_s": 47.052,
+   "t_start": 32.0924,
+   "t_end": 47.0924,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "cf212eb3-c6de-453c-9ceb-7f63a9e1aa4b",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 47.052,
+   "end_s": 62.052,
+   "t_start": 47.0924,
+   "t_end": 62.0924,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "fcb1f50d-bf82-4a9c-9482-38e272213348",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 62.052,
+   "end_s": 84.924,
+   "t_start": 62.0924,
+   "t_end": 84.9644,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_027/meta.json b/actions/locomotion_primitives/P21/session_027/meta.json
index 8f0c844937ade554b8f3d7843ddeae05d8a9d1ef..5c15c04583049726bfc0afd9ec15989fba744bbd 100644
--- a/actions/locomotion_primitives/P21/session_027/meta.json
+++ b/actions/locomotion_primitives/P21/session_027/meta.json
@@ -533,5 +533,9 @@
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261019/P21/20261019_041142_session49"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_028/annotations.json b/actions/locomotion_primitives/P21/session_028/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff34024f5c18fd3de254557751c466c48fc2326c
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_028/annotations.json
@@ -0,0 +1,83 @@
+{
+ "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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 95.716711,
+   "video": "left_eye",
+   "video_t_start": 0.05691035648323739
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7f0a4181-7475-4a1f-8d94-bee8bfb0af17",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 2.165,
+   "end_s": 18.068,
+   "t_start": 2.2219,
+   "t_end": 18.1249,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "f4b015ba-c44f-4a8b-bb2a-5f220c380b45",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 18.068,
+   "end_s": 32.683,
+   "t_start": 18.1249,
+   "t_end": 32.7399,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "e0f34fad-57e1-485a-b138-c3e3f0ba8d57",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 32.683,
+   "end_s": 47.702,
+   "t_start": 32.7399,
+   "t_end": 47.7589,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "3578219c-04df-4ac4-8af7-d10b418d080c",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 47.702,
+   "end_s": 62.702,
+   "t_start": 47.7589,
+   "t_end": 62.7589,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "ca20cea9-3ca9-45e1-8819-3e04c41cdc36",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 62.702,
+   "end_s": 77.714,
+   "t_start": 62.7589,
+   "t_end": 77.7709,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "81cf3658-e8c0-42ca-816f-2b83c6d81a46",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 77.714,
+   "end_s": 90.985,
+   "t_start": 77.7709,
+   "t_end": 91.0419,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_028/meta.json b/actions/locomotion_primitives/P21/session_028/meta.json
index 4a0e422f0700326c2a45b604e9c558ccc7dfbdcd..a9ea0e0f626038def0566d565651beaad58c0eee 100644
--- a/actions/locomotion_primitives/P21/session_028/meta.json
+++ b/actions/locomotion_primitives/P21/session_028/meta.json
@@ -529,5 +529,9 @@
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261019/P21/20261019_041330_session50"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_029/annotations.json b/actions/locomotion_primitives/P21/session_029/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..90aa5ae144cd232a6ff792d93de49b23f50f3121
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_029/annotations.json
@@ -0,0 +1,83 @@
+{
+ "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": "P21",
+ "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 91.5334,
+   "video": "left_eye",
+   "video_t_start": 0.040867451247598885
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7358f834-8ac4-4377-8df1-760c921b8831",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 1.678,
+   "end_s": 17.134,
+   "t_start": 1.7189,
+   "t_end": 17.1749,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "e64a3ace-5612-4bac-afd3-69ae38e1971f",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 17.134,
+   "end_s": 31.396,
+   "t_start": 17.1749,
+   "t_end": 31.4369,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "e64c8df7-396d-4074-bd5f-9510e388146f",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 31.396,
+   "end_s": 45.754,
+   "t_start": 31.4369,
+   "t_end": 45.7949,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "b416d294-3e08-4604-a753-91298620681f",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 45.754,
+   "end_s": 62.178,
+   "t_start": 45.7949,
+   "t_end": 62.2189,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "a66417a0-1273-4fbc-9578-a85d9d6b49ba",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 62.178,
+   "end_s": 76.942,
+   "t_start": 62.2189,
+   "t_end": 76.9829,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  },
+  {
+   "id": "b6ebd94e-163e-4c75-af60-7e0a2b16b750",
+   "segment": "segment1",
+   "action": "P21",
+   "quality": "valid",
+   "start_s": 76.942,
+   "end_s": 88.244,
+   "t_start": 76.9829,
+   "t_end": 88.2849,
+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_029/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_029/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..65ec65b6d42a144732748e59ce0e526d40d0b081
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_029/cameras/gsi_online_calibration.json
@@ -0,0 +1,208 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.389
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.3063,
+   "gate_fail": [],
+   "held_out_px_after": 0.632,
+   "held_out_px_before": 14.481,
+   "inliers": 615,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.0522,
+    -0.0907,
+    -0.7688
+   ],
+   "split_deg": 0.0534,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.5555,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 5.37,
+   "inliers": 1890,
+   "position_fitted": true,
+   "position_mm": [
+    -1.42,
+    -23.22,
+    -4.4
+   ],
+   "position_sigma_mm": 0.31,
+   "position_split_mm": 1.101,
+   "rotvec_deg": [
+    1.8861,
+    -0.6641,
+    1.5912
+   ],
+   "split_deg": 0.0834,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.4012,
+   "gate_fail": [],
+   "held_out_px_after": 0.613,
+   "held_out_px_before": 6.925,
+   "inliers": 1063,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6484,
+    -1.0964,
+    2.7657
+   ],
+   "split_deg": 0.0859,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.3763,
+   "gate_fail": [],
+   "held_out_px_after": 0.504,
+   "held_out_px_before": 5.543,
+   "inliers": 2155,
+   "position_fitted": true,
+   "position_mm": [
+    2.65,
+    -19.03,
+    -1.93
+   ],
+   "position_sigma_mm": 0.286,
+   "position_split_mm": 1.452,
+   "rotvec_deg": [
+    2.0972,
+    -1.1418,
+    2.3869
+   ],
+   "split_deg": 0.0866,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.379,
+   "gate_fail": [],
+   "held_out_px_after": 0.309,
+   "held_out_px_before": 2.06,
+   "inliers": 2271,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2588,
+    -0.2727,
+    0.0479
+   ],
+   "split_deg": 0.0202,
+   "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": "d07e2a593c43fb646b0313470dc4c7cf7b0fa349265e4d03a24857bdb41484c2",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "143a8fad2d4558d2df795486d62541fec01765946c11caad31327acbff84e160",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "1125a8060f15d3708a69e5ac7f7f2e032a5e885fd141992739ee3e138a5783ef",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7897399b166c776e77bf3c73464a1697d138529d971a1eeb6d3691ff775b73bb",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "f7ea1a0308550dec",
+ "kind": "online_calibration",
+ "output_sha256": "14eea10469270459450a94dd07577e1cb5956a5ec6b9df9fd094032b2b3d4ef3",
+ "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": 41.02,
+  "left_eye": 37.854,
+  "left_front": 48.58,
+  "right": 38.672,
+  "right_eye": 41.528,
+  "right_front": 48.239
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   1258115476666,
+   1259115443333,
+   1260115498888,
+   1261115465555,
+   1262115487777,
+   1263115465555,
+   1264115587777,
+   1265115487777,
+   1266115465555
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_029/cameras/slam.npz b/actions/locomotion_primitives/P21/session_029/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0250029a5910e723cd6220d5fdb55f65cc89a406
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_029/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def8ace172b3c8109385c0d152c6f3784e7c389f83a0b38fd85ef01bf4522499
+size 528160
diff --git a/actions/locomotion_primitives/P21/session_029/meta.json b/actions/locomotion_primitives/P21/session_029/meta.json
index f80533347669c8dd3748174fbc03880680416d0b..67b636fdbd2ebf0b5e09f579af6b2edae2e7cb05 100644
--- a/actions/locomotion_primitives/P21/session_029/meta.json
+++ b/actions/locomotion_primitives/P21/session_029/meta.json
@@ -380,8 +380,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -537,10 +537,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 12.47,
+    "offset_rotvec": [
+     0.1631,
+     -0.1316,
+     -0.0586
+    ],
+    "dev_deg": {
+     "median": 8.49,
+     "p90": 17.41
+    },
+    "samples": 2697,
+    "accepted": 2636,
+    "wrist_pos_err_mm_median": 20.2,
+    "per_camera": {
+     "head": {
+      "samples": 2697,
+      "accepted": 2636,
+      "gate_deg": 30.0,
+      "offset_deg": 12.47,
+      "tier": "primary",
+      "dev_deg_median": 8.49,
+      "wrist_pos_err_mm_median": 20.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10610,
+     "interpolated": 370,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.36,
+     "smplx": 0.68
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 11.3
+     },
+     "registered": {
+      "median": 7.0,
+      "p90": 8.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 25.17,
+    "offset_rotvec": [
+     0.3919,
+     0.1492,
+     0.1307
+    ],
+    "dev_deg": {
+     "median": 8.83,
+     "p90": 23.68
+    },
+    "samples": 2342,
+    "accepted": 2179,
+    "wrist_pos_err_mm_median": 58.1,
+    "per_camera": {
+     "head": {
+      "samples": 2342,
+      "accepted": 2179,
+      "gate_deg": 30.0,
+      "offset_deg": 25.17,
+      "tier": "primary",
+      "dev_deg_median": 8.83,
+      "wrist_pos_err_mm_median": 58.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8842,
+     "interpolated": 1926,
+     "mean_hand": 224,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9796,
+    "observed_fraction_of_valid": 0.9796,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.53,
+     "smplx": 0.54
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.7,
+      "p90": 12.7
+     },
+     "registered": {
+      "median": 10.4,
+      "p90": 10.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:21:12.938625+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P21/session_029",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261019/P21/20261019_072732_session28"
+ },
+ "task": {
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+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_029/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_029/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63ce29cd5518af8e812de03f5dd89442ad87f3e7
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_029/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 3412721
diff --git a/actions/locomotion_primitives/P21/session_029/motions/smplx.npz b/actions/locomotion_primitives/P21/session_029/motions/smplx.npz
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--- a/actions/locomotion_primitives/P21/session_029/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_029/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..ccc293510f32a385bd3b7fbb05e3d310bf9a2164
--- /dev/null
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@@ -0,0 +1,72 @@
+{
+ "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": "P21",
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+   "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P21/session_030/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P21/session_030/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..53103807e8c00101c360da62566b5e439d047af3
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_030/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
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+ },
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+   "held_out_px_before": 5.097,
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+   ],
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  },
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+  }
+ },
+ "input_fingerprint": "278636c155930c8b",
+ "kind": "online_calibration",
+ "output_sha256": "ee8b0e61f634cfde19922969a8f5d29b987c9e74a56de0352e4ab0323d0cbd8c",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
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+  "right_eye": 30.921,
+  "right_front": 36.639
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P21/session_030/cameras/slam.npz b/actions/locomotion_primitives/P21/session_030/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7b4a0ead3c98b2dd4189fae7c6c80be26a20f44a
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_030/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb9f35c54435f4aa684073f474d1bee7dc441d464a3500eced97cdb304f3af43
+size 743819
diff --git a/actions/locomotion_primitives/P21/session_030/meta.json b/actions/locomotion_primitives/P21/session_030/meta.json
index c021cfbaa4cc54417229f61e5cd11d8753366c90..5468d0663de986a5a44e086fa535871ecbecf9ca 100644
--- a/actions/locomotion_primitives/P21/session_030/meta.json
+++ b/actions/locomotion_primitives/P21/session_030/meta.json
@@ -323,8 +323,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.099047621956987
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.67,
+    "offset_rotvec": [
+     -0.0215,
+     0.2159,
+     -0.136
+    ],
+    "dev_deg": {
+     "median": 9.42,
+     "p90": 25.71
+    },
+    "samples": 3232,
+    "accepted": 2997,
+    "wrist_pos_err_mm_median": 36.7,
+    "per_camera": {
+     "head": {
+      "samples": 3232,
+      "accepted": 2997,
+      "gate_deg": 30.0,
+      "offset_deg": 14.67,
+      "tier": "primary",
+      "dev_deg_median": 9.42,
+      "wrist_pos_err_mm_median": 36.7
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3076,
+     "mean_hand": 189,
+     "no_body_fit": 64
+    },
+    "observed_fraction": 0.9837,
+    "observed_fraction_of_valid": 0.9877,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.58,
+     "smplx": 1.23
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.1,
+      "p90": 16.5
+     },
+     "registered": {
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+      "p90": 14.9
+     }
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+     -0.1908,
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+     "p90": 30.48
+    },
+    "samples": 2172,
+    "accepted": 1946,
+    "wrist_pos_err_mm_median": 53.4,
+    "per_camera": {
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+      "accepted": 1946,
+      "gate_deg": 30.0,
+      "offset_deg": 14.97,
+      "tier": "primary",
+      "dev_deg_median": 9.63,
+      "wrist_pos_err_mm_median": 53.4
+     }
+    },
+    "frames_by_state": {
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+     "mean_hand": 517,
+     "no_body_fit": 64
+    },
+    "observed_fraction": 0.9625,
+    "observed_fraction_of_valid": 0.9665,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.5,
+     "smplx": 1.3
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.3,
+      "p90": 12.3
+     },
+     "registered": {
+      "median": 8.3,
+      "p90": 12.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:22:16.229000+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P21/session_030",
   "family": "locomotion_primitives",
   "primitive": "P21",
   "source_session": "20261028/P21/20261028_002918_session19"
+ },
+ "task": {
+  "primitive": "P21",
+  "instruction": "Walk continuously ~15 s; naturally alternate slow/normal/fast several times; no stop."
  }
 }
diff --git a/actions/locomotion_primitives/P21/session_030/motions/hands_mano.npz b/actions/locomotion_primitives/P21/session_030/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9dc6c7e4e44024cbcecca53398bdcd7d9c87bc3e
--- /dev/null
+++ b/actions/locomotion_primitives/P21/session_030/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4e832b065ce6661910028840e387b02df11d46ddbf6d23f7ee4b8480cf61b2b
+size 3748595
diff --git a/actions/locomotion_primitives/P21/session_030/motions/smplx.npz b/actions/locomotion_primitives/P21/session_030/motions/smplx.npz
index 3642555c0e2b995a696b1ae97a775b3ea7f3c97a..c990434b753fbc2ab68ffcd3a3f3b4a41ddf3ad4 100644
--- a/actions/locomotion_primitives/P21/session_030/motions/smplx.npz
+++ b/actions/locomotion_primitives/P21/session_030/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5936688
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diff --git a/actions/locomotion_primitives/P22/session_001/annotations.json b/actions/locomotion_primitives/P22/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb8e69ea0c30c8eb1980733a666270be536db863
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_001/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966644,
+   "video": "left_eye",
+   "video_t_start": 0.038764818200881734
+  }
+ ],
+ "episodes": [
+  {
+   "id": "8d094267-adb3-4596-94e0-035df64d3426",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 1.02,
+   "end_s": 14.182,
+   "t_start": 1.0588,
+   "t_end": 14.2208,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "34188bde-eccb-4a0b-ad9d-3422cfeafa1d",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 16.309,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de571182ea90b16b8f12028989e3c5be97a811c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 129,
+    "median_px": 617.06,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.35
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9332,
+   "gate_fail": [],
+   "held_out_px_after": 0.537,
+   "held_out_px_before": 7.113,
+   "inliers": 1883,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0962,
+    0.8517,
+    0.369
+   ],
+   "split_deg": 0.0967,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9939,
+   "gate_fail": [],
+   "held_out_px_after": 0.357,
+   "held_out_px_before": 2.51,
+   "inliers": 3484,
+   "position_fitted": true,
+   "position_mm": [
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+    8.8,
+    13.62
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+   "position_split_mm": 2.71,
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+    0.0879,
+    0.6237,
+    -0.7689
+   ],
+   "split_deg": 0.0862,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3313,
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+   "held_out_px_before": 2.492,
+   "inliers": 1685,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2481,
+    -0.1461,
+    -0.164
+   ],
+   "split_deg": 0.0193,
+   "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": 0.351,
+   "held_out_px_before": 1.953,
+   "inliers": 3573,
+   "position_fitted": true,
+   "position_mm": [
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+    6.81,
+    10.81
+   ],
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+   "position_split_mm": 1.6,
+   "rotvec_deg": [
+    0.1806,
+    0.2751,
+    -0.5982
+   ],
+   "split_deg": 0.0855,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 7.384,
+   "inliers": 4936,
+   "position_fitted": false,
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+    -0.3215,
+    0.4997,
+    -1.8716
+   ],
+   "split_deg": 0.0176,
+   "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": "a023ac838f2f862e0a0c34e650e66884b83f920c259db69070882649a4bc71a1",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0f9b243e21527bec408343980aa2b7880f6023978a62592e7f18f3d9655a6cf4",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0f886bc8501885dada3b54f53a98548fd355815daa1830e24bbf1f8c252e1ea1",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "ab049f896edf1f03",
+ "kind": "online_calibration",
+ "output_sha256": "f4f72c0b1f2e3dca5538a7ebd5093d66b50c0be70ef970059026795f983b8cf1",
+ "overlap": {
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+  "left_eye-right": 0.685,
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+  "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": 43.944,
+  "left_eye": 39.937,
+  "left_front": 44.959,
+  "right": 43.268,
+  "right_eye": 41.408,
+  "right_front": 47.005
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   6854300853888,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_001/cameras/slam.npz b/actions/locomotion_primitives/P22/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f10b931dfcf9d2e7510333286fe46d5d20913a88
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca313a670848c2e095bc965e0104fbf583359b3f4e8593b8f27ef5e9b1ec97c2
+size 741149
diff --git a/actions/locomotion_primitives/P22/session_001/meta.json b/actions/locomotion_primitives/P22/session_001/meta.json
index 2c0640ad6b217e157001768b9da221bdb553b240..618d5ff27eef995a129e7496e1f1cd84366eb8f0 100644
--- a/actions/locomotion_primitives/P22/session_001/meta.json
+++ b/actions/locomotion_primitives/P22/session_001/meta.json
@@ -334,8 +334,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -516,10 +516,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.93,
+    "offset_rotvec": [
+     -0.1177,
+     -0.2519,
+     -0.0037
+    ],
+    "dev_deg": {
+     "median": 8.2,
+     "p90": 18.14
+    },
+    "samples": 3633,
+    "accepted": 3546,
+    "wrist_pos_err_mm_median": 47.4,
+    "per_camera": {
+     "head": {
+      "samples": 3633,
+      "accepted": 3546,
+      "gate_deg": 30.0,
+      "offset_deg": 15.93,
+      "tier": "primary",
+      "dev_deg_median": 8.2,
+      "wrist_pos_err_mm_median": 47.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14302,
+     "interpolated": 978,
+     "mean_hand": 7,
+     "no_body_fit": 197
+    },
+    "observed_fraction": 0.9868,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.8,
+     "smplx": 0.71
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.4,
+      "p90": 5.3
+     },
+     "registered": {
+      "median": 5.1,
+      "p90": 6.9
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0563,
+     0.1457
+    ],
+    "dev_deg": {
+     "median": 7.64,
+     "p90": 21.14
+    },
+    "samples": 2954,
+    "accepted": 2828,
+    "wrist_pos_err_mm_median": 34.8,
+    "per_camera": {
+     "head": {
+      "samples": 2954,
+      "accepted": 2828,
+      "gate_deg": 30.0,
+      "offset_deg": 9.04,
+      "tier": "primary",
+      "dev_deg_median": 7.64,
+      "wrist_pos_err_mm_median": 34.8
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3572,
+     "mean_hand": 171,
+     "no_body_fit": 197
+    },
+    "observed_fraction": 0.9762,
+    "observed_fraction_of_valid": 0.9888,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.74
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.0,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 7.4,
+      "p90": 8.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:36:08.522565+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_001",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260828/P22/20260828_072548_session38"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3f1b25d1d3cea4b324f5b356d1d5c8ccc258db0d
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02288dc8976605c3bde93aef988a6d7768577acb8ad95b9d5c12cd850214c8c1
+size 4530289
diff --git a/actions/locomotion_primitives/P22/session_001/motions/smplx.npz b/actions/locomotion_primitives/P22/session_001/motions/smplx.npz
index 0d9c2fb9e90721cfa87d34344d5c45f42d7ece84..f46d01d33803f3a6561a6ac7b772bb3ba118b988 100644
--- a/actions/locomotion_primitives/P22/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f0736b078078f87973aa876484a654396042d3a228c732736dac128f382ec147
-size 5898373
+oid sha256:74e88ac29b4bd3ee5136b569a7f5a67f98e455b4b005d3b422bb232de5ac9e00
+size 11017547
diff --git a/actions/locomotion_primitives/P22/session_002/annotations.json b/actions/locomotion_primitives/P22/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6f78e4d7dfe81b7fa5625dd6c99cce3b4708f24
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 168.966633,
+   "video": "left_eye",
+   "video_t_start": 0.038682808231147225
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P22",
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+   "t_start": 1.3577,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
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+   "t_end": 149.0537,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "t_end": 164.7227,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff8207b6b15e62f2d64907bd26f40f55fae9d83
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 148,
+    "median_px": 10.98,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.37
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9294,
+   "gate_fail": [],
+   "held_out_px_after": 0.516,
+   "held_out_px_before": 7.391,
+   "inliers": 2381,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1075,
+    0.7855,
+    0.485
+   ],
+   "split_deg": 0.0328,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 2.549,
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+    9.14,
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+    0.7433,
+    -0.8267
+   ],
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+   "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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+   "held_out_px_before": 2.447,
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+   "position_fitted": false,
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+    0.1953,
+    -0.1723,
+    -0.186
+   ],
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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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+   "gate_fail": [],
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+   "held_out_px_before": 1.805,
+   "inliers": 4306,
+   "position_fitted": true,
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+    7.41,
+    10.16
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+   "rotvec_deg": [
+    0.1755,
+    0.3548,
+    -0.6161
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "position_fitted": false,
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+    -0.3569,
+    0.4615,
+    -1.7907
+   ],
+   "split_deg": 0.0242,
+   "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": "48c096116329d66402c611dc299dfc47db0eb478f498439b253a3e6c93e7aaf7",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fe83f68e506353ebe8dae006fc0b9469d6e7142c98baeb8e89d981a3bb10233b",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e3c40c33e7d41f27c26c8dddb237f1130f169f60c71cb82835a9844d55f53bec",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f3a68eb668777a9d5c715ea2d5f0d383964b871c6acaba61834995831f72d3d6",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "f9f9dd40bd04ee21",
+ "kind": "online_calibration",
+ "output_sha256": "42015ef4e77feaab15cac07d14993b660866277bafd7d1d73dc25bcd566a2662",
+ "overlap": {
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+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 46.814,
+  "left_eye": 38.693,
+  "left_front": 46.535,
+  "right": 43.005,
+  "right_eye": 40.575,
+  "right_front": 46.73
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   8380974295777,
+   8384974406888,
+   8385974418000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_002/cameras/slam.npz b/actions/locomotion_primitives/P22/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5059fc1b6d0e9fc1e7d08ccea026bf6b40f49dd0
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30bf04dad7df208f630bc19070fb0269c465cd9cdcc0df73927695c0931c1496
+size 971086
diff --git a/actions/locomotion_primitives/P22/session_002/meta.json b/actions/locomotion_primitives/P22/session_002/meta.json
index 7d7e5dacb5b975e37a92a22228697903e02281ff..da3cbbe4d27e3afe5813d965bdf0ec4f77ca7482 100644
--- a/actions/locomotion_primitives/P22/session_002/meta.json
+++ b/actions/locomotion_primitives/P22/session_002/meta.json
@@ -335,8 +335,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -516,10 +516,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.98,
+    "offset_rotvec": [
+     -0.1294,
+     -0.247,
+     -0.0078
+    ],
+    "dev_deg": {
+     "median": 9.08,
+     "p90": 22.11
+    },
+    "samples": 4467,
+    "accepted": 4318,
+    "wrist_pos_err_mm_median": 51.6,
+    "per_camera": {
+     "head": {
+      "samples": 4467,
+      "accepted": 4318,
+      "gate_deg": 30.0,
+      "offset_deg": 15.98,
+      "tier": "primary",
+      "dev_deg_median": 9.08,
+      "wrist_pos_err_mm_median": 51.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 17532,
+     "interpolated": 2520,
+     "mean_hand": 7,
+     "no_body_fit": 225
+    },
+    "observed_fraction": 0.9886,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.23,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+     },
+     "registered": {
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+     }
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+    "accepted": 3960,
+    "wrist_pos_err_mm_median": 71.9,
+    "per_camera": {
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+      "accepted": 3960,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 71.9
+     }
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+     "no_body_fit": 225
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.87
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.3,
+      "p90": 8.9
+     },
+     "registered": {
+      "median": 7.0,
+      "p90": 8.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:01:51.122531+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_002",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260831/P22/20260831_035217_session28"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e5373c577d70e4c6e5d7ee16e759f4f5de278151
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17cf08917a6efa546ff8a2fe754b33f49d200b6493f5a84df251df03da1e5632
+size 6040016
diff --git a/actions/locomotion_primitives/P22/session_002/motions/smplx.npz b/actions/locomotion_primitives/P22/session_002/motions/smplx.npz
index 47c936fe4a9c2440d11bacc8e84ca00b52e6f008..29006f5ccd07921264173758a5538e98402b586f 100644
--- a/actions/locomotion_primitives/P22/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:702e303b85d543fc1dccc598e2ffff0834f7b759b5a10a58602bd040d4583a44
-size 7714606
+oid sha256:ee39bede6f4564c5dfc3cd9ec7a94e29ac8a2652a0bfe32be582875b03dad436
+size 14441676
diff --git a/actions/locomotion_primitives/P22/session_003/annotations.json b/actions/locomotion_primitives/P22/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..81d2ac49c6a6679045fdd05b405cc957aeace35c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_003/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 78.9667,
+   "video": "left_eye",
+   "video_t_start": 0.039697745880968194
+  }
+ ],
+ "episodes": [
+  {
+   "id": "057cef00-8d56-419c-a266-bb423a1a2540",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 16.136,
+   "t_start": 0.0397,
+   "t_end": 16.1757,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "1a3b9ffd-667f-41d4-92e4-d2fc3360a9b5",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
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+   "end_s": 33.578,
+   "t_start": 18.2867,
+   "t_end": 33.6177,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "ee364fbc-ff0f-4420-b45a-dd447d79088b",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 37.697,
+   "end_s": 55.131,
+   "t_start": 37.7367,
+   "t_end": 55.1707,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "dea977bb-5b16-43c3-867d-6c734e7080df",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 58.145,
+   "end_s": 74.813,
+   "t_start": 58.1847,
+   "t_end": 74.8527,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdc90b45f13011078adb5f45aa84b34852b10e24
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,263 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 133,
+    "median_px": 642.85,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.374
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2254,
+   "gate_fail": [],
+   "held_out_px_after": 0.525,
+   "held_out_px_before": 4.463,
+   "inliers": 2304,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1675,
+    0.1506,
+    -0.0086
+   ],
+   "split_deg": 0.0432,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    "right_front",
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+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+    9.18,
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+    -0.0726,
+    -0.628
+   ],
+   "split_deg": 0.0372,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left",
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+    0.0551,
+    -2.0678
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+ },
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+ "factory_root_name": "850a0e6aafa85fdf",
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+ "kind": "online_calibration",
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_eye": 37.126,
+  "left_front": 42.491,
+  "right": 43.216,
+  "right_eye": 40.278,
+  "right_front": 42.271
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_003/cameras/slam.npz b/actions/locomotion_primitives/P22/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..be51099e0725d0ffbb48d7f1c79bfdb31f4fb9ed
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5354dac58671a202a5c37aa94af7690849de4ec32272f7098bac29deb5aff5f9
+size 449510
diff --git a/actions/locomotion_primitives/P22/session_003/meta.json b/actions/locomotion_primitives/P22/session_003/meta.json
index 6654289105781b5544dd2736deb0f12b9915aadb..69f5426d5e7bb5f23c803af56c8ac70d7278f018 100644
--- a/actions/locomotion_primitives/P22/session_003/meta.json
+++ b/actions/locomotion_primitives/P22/session_003/meta.json
@@ -360,8 +360,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -532,10 +532,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "accepted": 1869,
+    "wrist_pos_err_mm_median": 54.1,
+    "per_camera": {
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+      "accepted": 1869,
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+      "offset_deg": 16.09,
+      "tier": "primary",
+      "dev_deg_median": 9.45,
+      "wrist_pos_err_mm_median": 54.1
+     }
+    },
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+     "interpolated": 1600,
+     "mean_hand": 132,
+     "no_body_fit": 18
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+    "observed_fraction_of_valid": 0.9861,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.84,
+     "smplx": 1.91
+    },
+    "hand_marker_to_mesh_mm": {
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+      "accepted": 1902,
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+      "tier": "primary",
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.9
+     },
+     "registered": {
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+      "p90": 9.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:52:07.528755+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_003",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260904/P22/20260904_073338_session38"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..61653e7b01e5bd12a6bbc2ce9f3bd9df677c7bda
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61a5617ad80760ac15cb22da7bee66ff9aa95a4f4979ecb8a8244e49e5b02c7
+size 2757638
diff --git a/actions/locomotion_primitives/P22/session_003/motions/smplx.npz b/actions/locomotion_primitives/P22/session_003/motions/smplx.npz
index c3b93af31bd39a1f3f68a3cec98c270a95a84c91..9a6313e25acdfbe0bf223a7051fc1529342fc296 100644
--- a/actions/locomotion_primitives/P22/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 3653987
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diff --git a/actions/locomotion_primitives/P22/session_004/annotations.json b/actions/locomotion_primitives/P22/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..959ff5a6238d5922579cce87ccd262cff7092db7
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_004/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
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+   "duration_s": 78.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03986967013648468
+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "t_start": 20.6779,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P22",
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+   "t_end": 57.1849,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P22",
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+   "t_end": 74.8789,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4be0133006e85bebb496674db46c7020983059
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 19.14,
+    "pair": [
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+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.35
+ },
+ "cameras": {
+  "left": {
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+    "right_front",
+    "left_eye",
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+    0.1567,
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+   "usable": true
+  },
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+   "usable": true
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+  },
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+   "usable": true
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+   "inliers": 3624,
+   "position_fitted": true,
+   "position_mm": [
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+    8.38,
+    9.63
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+   "position_split_mm": 2.106,
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+  }
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+}
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diff --git a/actions/locomotion_primitives/P22/session_004/cameras/slam.npz b/actions/locomotion_primitives/P22/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e91173820a919a44300a7cd034b805491b036f34
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 455192
diff --git a/actions/locomotion_primitives/P22/session_004/meta.json b/actions/locomotion_primitives/P22/session_004/meta.json
index 65c212779420e18c35e41ae56161a72ba4f4c214..f928862c062efdc1e4342c3f0f5a5315819347a4 100644
--- a/actions/locomotion_primitives/P22/session_004/meta.json
+++ b/actions/locomotion_primitives/P22/session_004/meta.json
@@ -362,8 +362,8 @@
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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": {
@@ -538,10 +538,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
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+    "accepted": 1811,
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+      "accepted": 1811,
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+      "tier": "primary",
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+    "accepted": 1752,
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+  "cameras_used": [
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260904/P22/20260904_073511_session39"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8cfc6aca4a859cc070d15b08b4a4c43c804457a3
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_004/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_primitives/P22/session_004/motions/smplx.npz b/actions/locomotion_primitives/P22/session_004/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/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_primitives/P22/session_005/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_005/cameras/slam.npz b/actions/locomotion_primitives/P22/session_005/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P22/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_primitives/P22/session_005/meta.json b/actions/locomotion_primitives/P22/session_005/meta.json
index 54a4ce96805db6a6c19db40d6311117abf20012f..5c387f2ee5f2d0c35f2c5049ea84ec87a3d87a29 100644
--- a/actions/locomotion_primitives/P22/session_005/meta.json
+++ b/actions/locomotion_primitives/P22/session_005/meta.json
@@ -326,8 +326,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8434163090001469
  },
+ "hands_registration": {
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+     "p90": 27.37
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+    "accepted": 1286,
+    "wrist_pos_err_mm_median": 209.9,
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+      "offset_deg": 20.11,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 209.9
+     }
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+    "palm_axis_vs_markers_deg": {
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+  "cameras_used": [
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+ },
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260909/P22/20260909_043725_session75"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_005/motions/hands_mano.npz
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@@ -0,0 +1,61 @@
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+ "primitive": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
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+   "video": "left_eye",
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+   "t_start": 31.2723,
+   "t_end": 46.6993,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "b3e12f75-ce81-4c4b-a855-223193e35b17",
+   "segment": "segment1",
+   "action": "P22",
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+   "t_end": 64.3273,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_006/cameras/slam.npz b/actions/locomotion_primitives/P22/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05166e06ffa2c36e19f12e246412150c02976d5a
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1460bde7dbc7cb7b4a4f39ab8c74c62a7349cc4067c68db863e6fe277f5200b
+size 399984
diff --git a/actions/locomotion_primitives/P22/session_006/meta.json b/actions/locomotion_primitives/P22/session_006/meta.json
index e3cd4273932a98d0c9a9bcb21c197da6f304867e..636598d72167ce334828f4fef93dd2afadd3382d 100644
--- a/actions/locomotion_primitives/P22/session_006/meta.json
+++ b/actions/locomotion_primitives/P22/session_006/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": 0.7268193471509495
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
+     0.2786,
+     -0.2038,
+     -0.1086
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+     "p90": 28.77
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+    "accepted": 1265,
+    "wrist_pos_err_mm_median": 212.7,
+    "per_camera": {
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+      "accepted": 1265,
+      "gate_deg": 30.0,
+      "offset_deg": 20.73,
+      "tier": "primary",
+      "dev_deg_median": 16.65,
+      "wrist_pos_err_mm_median": 212.7
+     }
+    },
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+     "interpolated": 2958,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9994,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.48
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 12.0
+     },
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+      "p90": 13.3
+     }
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+    "offset_rotvec": [
+     0.066,
+     0.3117,
+     0.0644
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+     "p90": 31.01
+    },
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+    "accepted": 1245,
+    "wrist_pos_err_mm_median": 91.1,
+    "per_camera": {
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 91.1
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+    "observed_fraction_of_valid": 0.9994,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.45
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.6
+     },
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+      "median": 6.4,
+      "p90": 7.9
+     }
+    }
+   }
+  },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:43:24.630701+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_006",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260909/P22/20260909_043849_session76"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f52d0f6ad06c9dc046e2e69d30bad5447985b084
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_006/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3e773bb10436d3e4efcbadc18d2f7db2ec3960cb72c42e697b440f781d33f3
+size 1928238
diff --git a/actions/locomotion_primitives/P22/session_006/motions/smplx.npz b/actions/locomotion_primitives/P22/session_006/motions/smplx.npz
index 513f520edb26533a8b7ca034a0f977e1c95e7299..8dee2df66a2a11cecdf6757344372e7ecf18a475 100644
--- a/actions/locomotion_primitives/P22/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 3202855
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diff --git a/actions/locomotion_primitives/P22/session_007/annotations.json b/actions/locomotion_primitives/P22/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..861323d2d274072e534f8966d72aea348a06cb96
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_007/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 88.966611,
+   "video": "left_eye",
+   "video_t_start": 0.03903785137887539
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P22",
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+   "end_s": 20.883,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "end_s": 41.196,
+   "t_start": 20.922,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "end_s": 81.816,
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+   "t_end": 81.855,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2e11402d8ad18ce6f1a6be2a7ea39fb707ceaf5
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.391
+ },
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+   "against": [
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+    "right_front",
+    "left_eye",
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+    -0.3744
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    0.5945,
+    -1.4897
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+   "split_deg": 0.0484,
+   "usable": true
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+  "left_front": {
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+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
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+    0.4195
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+   "position_split_mm": 1.423,
+   "rotvec_deg": [
+    0.3649,
+    -0.4639,
+    -0.1251
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+   "split_deg": 0.0484,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c9a2761bfdcea35a4f405e34d9f78326dad1a54e88ed98fc3933a682e2fb089a",
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+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
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+ "input_fingerprint": "c23164b40b0b68b2",
+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "right_front": 33.015
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+ "runtime": {
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_007/cameras/slam.npz b/actions/locomotion_primitives/P22/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8ef237783be3ea0cbfdad85a965f03a13795937
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fbfd48ffc61b079d02df7f18e58aff9e613e5ddffd7f681a8fafc8b6d9db96
+size 514527
diff --git a/actions/locomotion_primitives/P22/session_007/meta.json b/actions/locomotion_primitives/P22/session_007/meta.json
index 9958669ab0d33f3c95bccb4f58e788e4b3ceae7e..0bb6330a24868d212d5247bef61ede8d255d9cd7 100644
--- a/actions/locomotion_primitives/P22/session_007/meta.json
+++ b/actions/locomotion_primitives/P22/session_007/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": {
@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9243080835821209
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 13.48,
+    "offset_rotvec": [
+     -0.0922,
+     -0.1418,
+     0.1635
+    ],
+    "dev_deg": {
+     "median": 8.6,
+     "p90": 20.14
+    },
+    "samples": 2282,
+    "accepted": 2209,
+    "wrist_pos_err_mm_median": 42.5,
+    "per_camera": {
+     "head": {
+      "samples": 2282,
+      "accepted": 2209,
+      "gate_deg": 30.0,
+      "offset_deg": 13.48,
+      "tier": "primary",
+      "dev_deg_median": 8.6,
+      "wrist_pos_err_mm_median": 42.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8908,
+     "interpolated": 1260,
+     "mean_hand": 516,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9517,
+    "observed_fraction_of_valid": 0.9517,
+    "palm_axis_vs_markers_deg": {
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+    "accepted": 2557,
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+  "max_gap_s": 1.0,
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_007",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260909/P22/20260909_075658_session128"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5954cf8b2b18d827582e5587b80ae0532176bc9c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3282659
diff --git a/actions/locomotion_primitives/P22/session_007/motions/smplx.npz b/actions/locomotion_primitives/P22/session_007/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P22/session_008/annotations.json b/actions/locomotion_primitives/P22/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9022fdb1f91c999ce72ab8ec14fdc3b13619de5c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_008/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "end_s": 77.37,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82b057b10f345200a0e66ffa506a1a8dbfc6762
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.391
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+   "usable": true
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
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+    0.604,
+    -1.5194
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+   "against": [
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+    0.4092
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+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "position_mm": [
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+    -13.56,
+    8.63
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+   "position_split_mm": 1.677,
+   "rotvec_deg": [
+    0.3413,
+    -0.4476,
+    -0.1516
+   ],
+   "split_deg": 0.0816,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 5.158,
+   "inliers": 3754,
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+   "rotvec_deg": [
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+    -0.0289,
+    -1.0025
+   ],
+   "split_deg": 0.0084,
+   "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": "fa79503b730b92a7a2fb1f3b00b23430056b6510df8c2f60ef8f35d083da88da",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "sha256": "98db591cc29501ff55e9973a54b074a86651f43c69ba9f8f1b55182cfa1c3a84",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ca60db9f85697e043440c22e79814de2771bba5edbf54b8e5862564159fdfb10",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "293da70416040590",
+ "kind": "online_calibration",
+ "output_sha256": "4c52c62e26c4e8a3ce3b97e49f83c258085f0b37995a15ffe10e3568209c6afc",
+ "overlap": {
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+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 43.244,
+  "left_eye": 42.842,
+  "left_front": 37.222,
+  "right": 45.299,
+  "right_eye": 43.336,
+  "right_front": 36.113
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+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_008/cameras/slam.npz b/actions/locomotion_primitives/P22/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d45ebb06ea01e857792fee52c20a6235f602acf5
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1b17e6aa5550428dc1b2087a2a8283c3086abc1b5a643dcdc5a5f499925033
+size 486182
diff --git a/actions/locomotion_primitives/P22/session_008/meta.json b/actions/locomotion_primitives/P22/session_008/meta.json
index 3a5186b3083b4bb30416bea4046323fc400cf26a..e7f69fd48ef9ed80fbbeaaa8ada90134a42656ee 100644
--- a/actions/locomotion_primitives/P22/session_008/meta.json
+++ b/actions/locomotion_primitives/P22/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",
    "hand_marker_offsets_m": {
     "left": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8732845198523278
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "per_camera": {
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+      "gate_deg": 30.0,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 33.2
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.62
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+    "hand_marker_to_mesh_mm": {
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+      "accepted": 2322,
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+      "tier": "primary",
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+     }
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+     "registered": {
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+      "p90": 8.5
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T15:45:03.433163+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_008",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260909/P22/20260909_080006_session129"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ce85786304b4303da3f73c57dfb92896f25251a
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cd43d43df0eaa174a614ee9231c8125e25cb9681d24064e64c73b067b048ba
+size 3024624
diff --git a/actions/locomotion_primitives/P22/session_008/motions/smplx.npz b/actions/locomotion_primitives/P22/session_008/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_008/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P22/session_009/annotations.json b/actions/locomotion_primitives/P22/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7428e05774017fd783f3011dda6dd4dc6c1090cf
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_009/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
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+   "duration_s": 88.966656,
+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
+  {
+   "id": "c3936308-e2f8-4b6f-83e5-5a267753dfd1",
+   "segment": "segment1",
+   "action": "P22",
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+   "end_s": 20.379,
+   "t_start": 2.7559,
+   "t_end": 20.4179,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "segment": "segment1",
+   "action": "P22",
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+   "end_s": 78.774,
+   "t_start": 59.1889,
+   "t_end": 78.8129,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a193e11ab6e54ce66bde17ac645aa7c49754f767
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.407
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "held_out_px_before": 4.215,
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+    0.477,
+    -0.3621,
+    -0.91
+   ],
+   "split_deg": 0.0756,
+   "usable": true
+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9329,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 5.794,
+   "inliers": 2943,
+   "position_fitted": true,
+   "position_mm": [
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+    -14.06,
+    4.75
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+   "position_split_mm": 1.495,
+   "rotvec_deg": [
+    0.0665,
+    0.6427,
+    -1.8217
+   ],
+   "split_deg": 0.0457,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 1243,
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+   "rotvec_deg": [
+    1.3745,
+    -0.5029,
+    0.102
+   ],
+   "split_deg": 0.0706,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7098,
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+   "held_out_px_after": 0.376,
+   "held_out_px_before": 3.716,
+   "inliers": 3171,
+   "position_fitted": true,
+   "position_mm": [
+    8.48,
+    -14.34,
+    4.99
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+   "position_sigma_mm": 0.348,
+   "position_split_mm": 1.663,
+   "rotvec_deg": [
+    0.282,
+    -0.4927,
+    -0.426
+   ],
+   "split_deg": 0.052,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3922,
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+   "held_out_px_before": 5.019,
+   "inliers": 3506,
+   "position_fitted": false,
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+    -0.4535,
+    0.011,
+    -1.3163
+   ],
+   "split_deg": 0.021,
+   "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": "1bb4cb2a032915a5304c288384c0f530b1661218c2fecfbedbb21bf81b2816d4",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c5ce7fe32294a262f72743d662e28153f7fdc4810c6c551e3976c3b80b387e85",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f185c45b53da2e6f64728f89488a40c0e4b076232a9b0715456df702408098fd",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7156610a8ebc41986676d93e4cc2e86e611685d1683f941a875f231e43811295",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "21459ffd4775d586",
+ "kind": "online_calibration",
+ "output_sha256": "3bb380ca0b85cccadaa459d3c9bec52858243ff97cda9d083ca3723086fbe410",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 36.81,
+  "left_eye": 31.042,
+  "left_front": 39.466,
+  "right": 37.928,
+  "right_eye": 29.666,
+  "right_front": 38.928
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_009/cameras/slam.npz b/actions/locomotion_primitives/P22/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cf23e7d632a9a4981b99e55609b55a0f2d618798
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 509392
diff --git a/actions/locomotion_primitives/P22/session_009/meta.json b/actions/locomotion_primitives/P22/session_009/meta.json
index e8c83a56b9d30b9f92c33f76b4488ad74f731b51..f9ec6c4fe8402122ba08f47695dffd702dd68d2a 100644
--- a/actions/locomotion_primitives/P22/session_009/meta.json
+++ b/actions/locomotion_primitives/P22/session_009/meta.json
@@ -344,8 +344,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -531,10 +531,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.009619510740638
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 5.11,
+    "offset_rotvec": [
+     0.089,
+     -0.0013,
+     0.0055
+    ],
+    "dev_deg": {
+     "median": 14.72,
+     "p90": 36.3
+    },
+    "samples": 2007,
+    "accepted": 1735,
+    "wrist_pos_err_mm_median": 68.7,
+    "per_camera": {
+     "head": {
+      "samples": 2007,
+      "accepted": 1735,
+      "gate_deg": 30.0,
+      "offset_deg": 5.11,
+      "tier": "primary",
+      "dev_deg_median": 14.72,
+      "wrist_pos_err_mm_median": 68.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7118,
+     "interpolated": 3310,
+     "mean_hand": 248,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.976,
+    "observed_fraction_of_valid": 0.9768,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.06,
+     "smplx": 0.57
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.6,
+      "p90": 17.9
+     },
+     "registered": {
+      "median": 11.5,
+      "p90": 16.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 17.22,
+    "offset_rotvec": [
+     0.2612,
+     0.0639,
+     0.1342
+    ],
+    "dev_deg": {
+     "median": 8.6,
+     "p90": 24.37
+    },
+    "samples": 1859,
+    "accepted": 1730,
+    "wrist_pos_err_mm_median": 69.7,
+    "per_camera": {
+     "head": {
+      "samples": 1859,
+      "accepted": 1730,
+      "gate_deg": 30.0,
+      "offset_deg": 17.22,
+      "tier": "primary",
+      "dev_deg_median": 8.6,
+      "wrist_pos_err_mm_median": 69.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7088,
+     "interpolated": 2988,
+     "mean_hand": 600,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9431,
+    "observed_fraction_of_valid": 0.9438,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.22,
+     "smplx": 0.55
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 19.3
+     },
+     "registered": {
+      "median": 12.0,
+      "p90": 17.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:44.191730+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_009",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260919/P22/20260919_031336_session42"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c540a7122e494f7a2a3407b07cf565fe128370e5
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c9265830f20d13585b7341d22820d64ec0054abbdf730a19215d2915a59fa0
+size 2662456
diff --git a/actions/locomotion_primitives/P22/session_009/motions/smplx.npz b/actions/locomotion_primitives/P22/session_009/motions/smplx.npz
index abcb3cd2acc241afb275a98dfbf3c24857c4378e..dec21fb0beeea1451d9bcc5baee1404c26b0b34b 100644
--- a/actions/locomotion_primitives/P22/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P22/session_010/annotations.json b/actions/locomotion_primitives/P22/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..38fc9326b80a3cdc54da3c2ae7e162dcadb58a1b
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_010/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 83.966778,
+   "video": "left_eye",
+   "video_t_start": 0.03899958115219104
+  }
+ ],
+ "episodes": [
+  {
+   "id": "830699d6-f90c-425d-85c7-14ca44a0271a",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 2.807,
+   "end_s": 20.462,
+   "t_start": 2.846,
+   "t_end": 20.501,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "e156bddd-188a-4ab9-8fb0-9c01da4015c2",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 20.462,
+   "end_s": 37.085,
+   "t_start": 20.501,
+   "t_end": 37.124,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "8001259e-a154-4717-ac86-dbeb17381071",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 37.085,
+   "end_s": 56.362,
+   "t_start": 37.124,
+   "t_end": 56.401,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "cfa7ccce-f115-417e-bbb7-0d861574496d",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 56.362,
+   "end_s": 74.28,
+   "t_start": 56.401,
+   "t_end": 74.319,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6f930597107775e2c1922e4a58a83f497fe200
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.384
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+  "right_front-right_eye": 0.734
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+  "left_front": 40.001,
+  "right": 35.663,
+  "right_eye": 29.494,
+  "right_front": 38.217
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
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+   9794523135000,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_010/cameras/slam.npz b/actions/locomotion_primitives/P22/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4070bae19832f4c89850bcbe60074e80a4665b43
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54cfaeb86a26226643566db51402b11126b13a8c0b215e5ebebfe5145a2ffc8d
+size 487256
diff --git a/actions/locomotion_primitives/P22/session_010/meta.json b/actions/locomotion_primitives/P22/session_010/meta.json
index e64ed0d3f10e59bb38390e5c0faab209ce0466f5..ca46bba972bcc0a83dd93d06224f0b6f9ecc4032 100644
--- a/actions/locomotion_primitives/P22/session_010/meta.json
+++ b/actions/locomotion_primitives/P22/session_010/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": {
@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1180142651564695
  },
+ "hands_registration": {
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+     -0.0169,
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+     "p90": 35.16
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+    "accepted": 1472,
+    "wrist_pos_err_mm_median": 70.3,
+    "per_camera": {
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+      "gate_deg": 30.0,
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+      "tier": "primary",
+      "dev_deg_median": 16.04,
+      "wrist_pos_err_mm_median": 70.3
+     }
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+     "interpolated": 3532,
+     "mean_hand": 464,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.954,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.63
+    },
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+      "p90": 17.2
+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:40.989566+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_010",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260919/P22/20260919_031515_session43"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..419942d4c4f14bf322c9c399d555ed866587c327
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38e959c299247b1f9b9266ac17e30cd518f817d02c4e2558ba18d195f95adb1c
+size 2316625
diff --git a/actions/locomotion_primitives/P22/session_010/motions/smplx.npz b/actions/locomotion_primitives/P22/session_010/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_010/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P22/session_011/annotations.json b/actions/locomotion_primitives/P22/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..36181c50f2d62a2a7e07e7f1dfd2b169a37f9f02
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_011/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
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+   "duration_s": 88.966611,
+   "video": "left_eye",
+   "video_t_start": 0.03869185275829601
+  }
+ ],
+ "episodes": [
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+  },
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+  },
+  {
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+   "segment": "segment1",
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+   "t_end": 65.1257,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8159b96f50f55f520571fd4de27dc3fc10c02d
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.367
+ },
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+   "usable": true
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+   "usable": true
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+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
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+  },
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+  },
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "294e15627517df73a345507291dc0d9eb56588302ef19fe893f72a9229a3a80a",
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+  "left_front": 36.608,
+  "right": 34.713,
+  "right_eye": 27.807,
+  "right_front": 34.987
+ },
+ "runtime": {
+  "numpy": "2.4.6",
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+  "scipy": "1.17.1"
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_011/cameras/slam.npz b/actions/locomotion_primitives/P22/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..072b430704dde41bd024f6e90c563e21550aa4a6
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 515394
diff --git a/actions/locomotion_primitives/P22/session_011/meta.json b/actions/locomotion_primitives/P22/session_011/meta.json
index a8f57478b904a76ecbed81e82930a7798a14e0b9..de6deacaf6392c6727c3ab2529a7a34a8a88cb41 100644
--- a/actions/locomotion_primitives/P22/session_011/meta.json
+++ b/actions/locomotion_primitives/P22/session_011/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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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": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7738807128592063
  },
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+     "interpolated": 6002,
+     "mean_hand": 768,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9281,
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+  "max_gap_s": 1.0,
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+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260919/P22/20260919_091946_session156"
+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/P22/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8dd52beca2958e5f9897bde238c146fc35882f8a
--- /dev/null
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@@ -0,0 +1,3 @@
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+size 1695588
diff --git a/actions/locomotion_primitives/P22/session_011/motions/smplx.npz b/actions/locomotion_primitives/P22/session_011/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_011/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..5b731ef4808e43583504078352d3793c64761c19
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_012/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cba220e40454712123628f4a779c705f4af5a7d
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
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+ },
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diff --git a/actions/locomotion_primitives/P22/session_012/cameras/slam.npz b/actions/locomotion_primitives/P22/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..658058b47a7d7885bf1945f94294484d55d00f20
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P22/session_012/meta.json b/actions/locomotion_primitives/P22/session_012/meta.json
index adeee80e17cf122e711ecafb823a24e8aa021a36..be1ad83e5fefb3deb40f6a0eda2d04d2344e2be2 100644
--- a/actions/locomotion_primitives/P22/session_012/meta.json
+++ b/actions/locomotion_primitives/P22/session_012/meta.json
@@ -317,8 +317,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "family": "locomotion_primitives",
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+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P22/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_012/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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+++ b/actions/locomotion_primitives/P22/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..c32ac12f38ac42c65386840011cd95e9dd291658
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_013/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+   "video": "left_eye",
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+  }
+ ],
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+}
diff --git a/actions/locomotion_primitives/P22/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..147d804e592dfa2fc92386f9188636c58686502a
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
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diff --git a/actions/locomotion_primitives/P22/session_013/cameras/slam.npz b/actions/locomotion_primitives/P22/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4fe50fa37ab51014d147fa76fd6ef9c349e798d
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P22/session_013/meta.json b/actions/locomotion_primitives/P22/session_013/meta.json
index 91cb9d7aa589a9889662bf78fdbf6491eb273f1e..a00da3164be622aee0844ad8fa8025d0a39d43bd 100644
--- a/actions/locomotion_primitives/P22/session_013/meta.json
+++ b/actions/locomotion_primitives/P22/session_013/meta.json
@@ -327,8 +327,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6758950237086598
  },
+ "hands_registration": {
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+    "accepted": 1429,
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+    "per_camera": {
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+      "accepted": 1429,
+      "gate_deg": 30.0,
+      "offset_deg": 27.8,
+      "tier": "primary",
+      "dev_deg_median": 11.85,
+      "wrist_pos_err_mm_median": 55.2
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+     "interpolated": 5020,
+     "mean_hand": 304,
+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.99
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+  "cameras_used": [
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260921/P22/20260921_072634_session130"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f6027a01621e2fff6afa45d6502785fa2e92fb28
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 2119708
diff --git a/actions/locomotion_primitives/P22/session_013/motions/smplx.npz b/actions/locomotion_primitives/P22/session_013/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P22/session_014/annotations.json b/actions/locomotion_primitives/P22/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..59d5996b86c1ca6f0d7eceaaf0aa75cd88178566
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_014/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9197451c95c6c584bd7d73a3c0b6175bf836bd5e
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
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+  "groups_used": 14,
+  "median_px": 0.433
+ },
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+   "usable": true
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+    -0.2789,
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+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
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+  }
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+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
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+  "left_eye": 29.804,
+  "left_front": 34.892,
+  "right": 35.719,
+  "right_eye": 28.958,
+  "right_front": 30.363
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+  "opencv": "5.0.0",
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+ "selection": {
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_014/cameras/slam.npz b/actions/locomotion_primitives/P22/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7da91885db0670a553d556f66a52c9da217cc351
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc1ee4823ec5d80078885d1f89bbfb032e648c9e0197422798dac02e36745873
+size 543226
diff --git a/actions/locomotion_primitives/P22/session_014/meta.json b/actions/locomotion_primitives/P22/session_014/meta.json
index 21963beeb97cef107340c1cc4896689ace228b7a..80c9ba57e8df4f1f7db76548147adf480ec43e09 100644
--- a/actions/locomotion_primitives/P22/session_014/meta.json
+++ b/actions/locomotion_primitives/P22/session_014/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": 0.6743873124317692
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.0906,
+     -0.2222
+    ],
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+     "p90": 34.86
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+    "accepted": 1661,
+    "wrist_pos_err_mm_median": 60.1,
+    "per_camera": {
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+      "accepted": 1661,
+      "gate_deg": 30.0,
+      "offset_deg": 26.69,
+      "tier": "primary",
+      "dev_deg_median": 11.65,
+      "wrist_pos_err_mm_median": 60.1
+     }
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+     "mean_hand": 228,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9798,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.0
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 21.6
+     },
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+     "p90": 34.23
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+    "accepted": 1352,
+    "wrist_pos_err_mm_median": 59.0,
+    "per_camera": {
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+      "accepted": 1352,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 59.0
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.995,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.12
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 5.6
+     },
+     "registered": {
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+      "p90": 6.3
+     }
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:46:47.910820+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_014",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260921/P22/20260921_072822_session131"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dc62bccf7d45aae1de7b74a727e26d218cb805d4
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2450883
diff --git a/actions/locomotion_primitives/P22/session_014/motions/smplx.npz b/actions/locomotion_primitives/P22/session_014/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_014/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P22/session_015/annotations.json b/actions/locomotion_primitives/P22/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..74793ca34a03b2862bc04748290455fd768af860
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_015/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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03919493822890141
+  }
+ ],
+ "episodes": [
+  {
+   "id": "424dae06-8530-44ce-bf74-b3583bf81695",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
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+   "end_s": 119.419,
+   "t_start": 0.0392,
+   "t_end": 119.4582,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..60533cc978f85fca0c5a62ad39f58aef403fd897
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
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+  "groups_used": 15,
+  "median_px": 0.431
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
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+    -1.0765
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+  },
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+  },
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+    "left_front",
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+    "left_eye",
+    "right_eye",
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+    -0.1099
+   ],
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+   "usable": true
+  },
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+    "left_eye",
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+   "usable": true
+  },
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+   "against": [
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+    "right_eye",
+    "left",
+    "right"
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+    -2.0257
+   ],
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+  }
+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "sha256": "ce1d65154875df1d957018a1243a88b2b741d37f2ff8724e163898b7cce0d41a",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "4ec4d4fe0927c06cd8a397ee86a6bd85e9f2e73b6d67208e59942b407a905a97",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "73cdcd2a9f818db9",
+ "kind": "online_calibration",
+ "output_sha256": "fb6bf67580affff4f9ed838c3decd5317b7d6db12fa1c1e5d8a9b5296770333a",
+ "overlap": {
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+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 30.536,
+  "left_front": 37.953,
+  "right": 39.154,
+  "right_eye": 30.703,
+  "right_front": 37.606
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_015/cameras/slam.npz b/actions/locomotion_primitives/P22/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..80d592cba9c8d12d2114d693ec29f68fde388ad6
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07609429e6fe98a85c9348f44657845c2336996fb4ca54174c67e1269b9cec10
+size 715361
diff --git a/actions/locomotion_primitives/P22/session_015/meta.json b/actions/locomotion_primitives/P22/session_015/meta.json
index 9ede9f038254a25435ff824e998b02909291469b..c006f94fb31976da5de5d1bfc5e857d008e3f15c 100644
--- a/actions/locomotion_primitives/P22/session_015/meta.json
+++ b/actions/locomotion_primitives/P22/session_015/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -529,10 +529,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5011733534368272
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 34.21,
+    "offset_rotvec": [
+     0.4955,
+     -0.2092,
+     -0.2593
+    ],
+    "dev_deg": {
+     "median": 15.52,
+     "p90": 31.63
+    },
+    "samples": 2224,
+    "accepted": 1945,
+    "wrist_pos_err_mm_median": 69.3,
+    "per_camera": {
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+      "accepted": 1945,
+      "gate_deg": 30.0,
+      "offset_deg": 34.21,
+      "tier": "primary",
+      "dev_deg_median": 15.52,
+      "wrist_pos_err_mm_median": 69.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8182,
+     "interpolated": 6678,
+     "mean_hand": 24,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9984,
+    "observed_fraction_of_valid": 0.9984,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 39.85,
+     "smplx": 0.89
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.4,
+      "p90": 8.8
+     },
+     "registered": {
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+      "p90": 8.7
+     }
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+     0.2125
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+     "p90": 41.83
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+    "accepted": 1284,
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+    "per_camera": {
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+      "accepted": 1284,
+      "gate_deg": 30.0,
+      "offset_deg": 25.83,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 93.7
+     }
+    },
+    "frames_by_state": {
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+    "observed_fraction": 0.9398,
+    "observed_fraction_of_valid": 0.9398,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 20.6
+     },
+     "registered": {
+      "median": 10.1,
+      "p90": 18.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:32:40.571777+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_015",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260925/P22/20260925_081416_session87"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e830953267e0c99954bd93e40e304cea3b128cd
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f2e5325508c196b013d547b5831d968babf0e2b825190960f6665a1fb8370c
+size 2742176
diff --git a/actions/locomotion_primitives/P22/session_015/motions/smplx.npz b/actions/locomotion_primitives/P22/session_015/motions/smplx.npz
index 2a7f4154d6447843e6093ad89727f25efdfd3957..0bcb3a6c7502c9b4b5b92595c8933a63b5326fa0 100644
--- a/actions/locomotion_primitives/P22/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5736061
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diff --git a/actions/locomotion_primitives/P22/session_016/annotations.json b/actions/locomotion_primitives/P22/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..04cc74979a4271a51f35d0404d9fc1c4fa48819c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_016/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 128.966778,
+   "video": "left_eye",
+   "video_t_start": 0.03915347949800774
+  }
+ ],
+ "episodes": [
+  {
+   "id": "6af82b0e-4477-4c62-8bab-eade1bd8b3f8",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 1.017,
+   "end_s": 32.062,
+   "t_start": 1.0562,
+   "t_end": 32.1012,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P22",
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+   "end_s": 63.493,
+   "t_start": 32.1012,
+   "t_end": 63.5322,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "c3323cc5-3765-4571-94c1-a982f55365ac",
+   "segment": "segment1",
+   "action": "P22",
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+   "start_s": 63.493,
+   "end_s": 92.337,
+   "t_start": 63.5322,
+   "t_end": 92.3762,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P22",
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+   "t_start": 92.3762,
+   "t_end": 122.7422,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..52712b4a1f808a67e760cca915361130bb53f031
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.402
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
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+   "held_out_px_before": 5.036,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2332,
+    -0.4649,
+    -1.0993
+   ],
+   "split_deg": 0.114,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "delta_deg": 2.2815,
+   "gate_fail": [],
+   "held_out_px_after": 0.44,
+   "held_out_px_before": 4.77,
+   "inliers": 2864,
+   "position_fitted": true,
+   "position_mm": [
+    0.9,
+    -14.08,
+    8.97
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+   "position_sigma_mm": 0.408,
+   "position_split_mm": 1.251,
+   "rotvec_deg": [
+    -0.1768,
+    0.7861,
+    -2.1345
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+   "split_deg": 0.0318,
+   "usable": true
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+    "left_front",
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+ "factory_root_name": "e17c9efadb69e7b1",
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+ "output_sha256": "bd8ba3cb8c55df477abed2b65b4d4644b6fa8308920c56018fdc9d082d546745",
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+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
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+  "right_front-right_eye": 0.734
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+  "left_front": 41.899,
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+  "right_eye": 33.684,
+  "right_front": 40.008
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P22/session_016/cameras/slam.npz b/actions/locomotion_primitives/P22/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b7dfb0225e555385de2cab79a0f195e494d5c00b
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6684a14257c30d00498223e1000508df123a9e72cb5e0c402020e6984c302a3c
+size 738374
diff --git a/actions/locomotion_primitives/P22/session_016/meta.json b/actions/locomotion_primitives/P22/session_016/meta.json
index ecc83d561e3dd3b8dbc00c9b0d5067de61914e79..bfcb9cb64498fa8606841b409019ca577f0351ed 100644
--- a/actions/locomotion_primitives/P22/session_016/meta.json
+++ b/actions/locomotion_primitives/P22/session_016/meta.json
@@ -340,8 +340,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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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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@@ -541,10 +541,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4599245333467117
  },
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+    "accepted": 2089,
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+    "per_camera": {
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+      "accepted": 2089,
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+     "interpolated": 6564,
+     "mean_hand": 132,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9915,
+    "palm_axis_vs_markers_deg": {
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+      "p90": 9.1
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T22:32:38.930505+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260925/P22/20260925_081637_session88"
+ },
+ "task": {
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+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4fffe5e5c1ad06dba879c0b06f9866c50e663e1b
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e5a636a387de814f7f0ff5a7633078313bd286fc7ac42d26a51ba7f518581dc
+size 2856996
diff --git a/actions/locomotion_primitives/P22/session_016/motions/smplx.npz b/actions/locomotion_primitives/P22/session_016/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P22/session_017/annotations.json b/actions/locomotion_primitives/P22/session_017/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ccbeceda0ce7808ad09742fabe800b8fda45dd9
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_017/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
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+   "t_end": 71.939,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_017/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a61a35dd3e1a39fdc0fc7820176c4adaa0df9bc
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_017/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
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+  "median_px": 0.407
+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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diff --git a/actions/locomotion_primitives/P22/session_017/cameras/slam.npz b/actions/locomotion_primitives/P22/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f81e692c3c5a865276b2561a2a9a022badff76b0
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f33ccfb82f40c89a6902b0f51ea53329a9431a85a0012d38ffd99a8e65b4ce
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diff --git a/actions/locomotion_primitives/P22/session_017/meta.json b/actions/locomotion_primitives/P22/session_017/meta.json
index 221c2884f9a7817dce73c9a23c8e8eb457f38c4d..31942d2b867e204f3a691f19be94c16371329294 100644
--- a/actions/locomotion_primitives/P22/session_017/meta.json
+++ b/actions/locomotion_primitives/P22/session_017/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": {
@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4445376619405466
  },
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+    "offset_rotvec": [
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+     "p90": 36.71
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+    "accepted": 2175,
+    "wrist_pos_err_mm_median": 43.6,
+    "per_camera": {
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+      "accepted": 2175,
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+      "offset_deg": 33.76,
+      "tier": "primary",
+      "dev_deg_median": 13.99,
+      "wrist_pos_err_mm_median": 43.6
+     }
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+     "interpolated": 1842,
+     "mean_hand": 1416,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.8831,
+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+    "accepted": 1265,
+    "wrist_pos_err_mm_median": 83.8,
+    "per_camera": {
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+      "tier": "primary",
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+     },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:25:43.022537+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260929/P22/20260929_041619_session79"
+ },
+ "task": {
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+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_017/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4269c5405ba913bf6e14e7faf18caaab48ecd6c8
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P22/session_017/motions/smplx.npz b/actions/locomotion_primitives/P22/session_017/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_017/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_017/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P22/session_018/annotations.json b/actions/locomotion_primitives/P22/session_018/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..355984b99c796fa2d00d8d8cc822ab2a1876f78c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_018/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
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+   "duration_s": 93.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03909109464517968
+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_018/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..decc38dbfd7e42e5d4950e9ad8269131d012101f
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_018/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
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+ },
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diff --git a/actions/locomotion_primitives/P22/session_018/meta.json b/actions/locomotion_primitives/P22/session_018/meta.json
index 7a59995d21a1672356c127b0fb53dcd98f4fb522..1633cb5de6b985fb939e48b96511337db10d4c3a 100644
--- a/actions/locomotion_primitives/P22/session_018/meta.json
+++ b/actions/locomotion_primitives/P22/session_018/meta.json
@@ -327,8 +327,8 @@
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-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -522,10 +522,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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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_primitives",
   "primitive": "P22",
   "source_session": "20260929/P22/20260929_041814_session80"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
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new file mode 100644
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--- /dev/null
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "P22",
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diff --git a/actions/locomotion_primitives/P22/session_019/cameras/slam.npz b/actions/locomotion_primitives/P22/session_019/cameras/slam.npz
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index 5cb4557dccf7268a12d9081a412e1569a1c13e48..3535cba6527a4ea6de8b91405ebd25f84c7ce0f9 100644
--- a/actions/locomotion_primitives/P22/session_019/meta.json
+++ b/actions/locomotion_primitives/P22/session_019/meta.json
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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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@@ -480,10 +480,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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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_primitives",
   "primitive": "P22",
   "source_session": "20260930/P22/20260930_041716_session22"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_019/motions/hands_mano.npz
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+ "primitive": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+}
diff --git a/actions/locomotion_primitives/P22/session_020/cameras/slam.npz b/actions/locomotion_primitives/P22/session_020/cameras/slam.npz
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index 4baa255a0c0016b39dc223026da18fac5ce334aa..331e408473cbd6efbaa3ab58d533cf0135abe73e 100644
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@@ -527,10 +527,124 @@
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.49
+    },
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+     },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_020",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260930/P22/20260930_041907_session23"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_020/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_020/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..90855f6ec165c761fb91b076900f900a23716395
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_020/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 1914695
diff --git a/actions/locomotion_primitives/P22/session_020/motions/smplx.npz b/actions/locomotion_primitives/P22/session_020/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_020/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_020/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P22/session_021/annotations.json b/actions/locomotion_primitives/P22/session_021/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aba4501e278e9cf3431216f4963efefb2310ebf
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_021/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_021/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_021/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03abe735072fc3375eb20af48f0dce2571cfb3c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_021/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.391
+ },
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+   "accepted": true,
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+    "left_front",
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+   "against": [
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+    "right_eye",
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+    0.8368,
+    -2.1995
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+   "role": "rig origin"
+  },
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+    "right_front",
+    "left_eye",
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+    -0.2888
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+   "usable": true
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+    "left_eye",
+    "left",
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+    -8.95,
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+    0.4071,
+    -0.2879,
+    -0.9327
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+   "split_deg": 0.0332,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "rotvec_deg": [
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+    -2.0326
+   ],
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "50f996d7d0acc984",
+ "kind": "online_calibration",
+ "output_sha256": "9d7146e788eedc538800bf0389dab8ce68f5ec2055b6f761588649122bb20ddc",
+ "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": {
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+  "left_eye": 30.573,
+  "left_front": 38.983,
+  "right": 32.003,
+  "right_eye": 28.07,
+  "right_front": 37.716
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
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+ "selection": {
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_021/cameras/slam.npz b/actions/locomotion_primitives/P22/session_021/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c63bd03b386f817fcdcc3578f9537826df21878b
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_021/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6cc319ecb970ebffed19654e97bd5b9f85f9f5461ba1611a190bf12ecc37eee
+size 513063
diff --git a/actions/locomotion_primitives/P22/session_021/meta.json b/actions/locomotion_primitives/P22/session_021/meta.json
index 8d10ddd8fababbfa63c5e47308e960a6b2e92fc5..c987c9b9d87ed0d0ee803bc031ef244c384293cd 100644
--- a/actions/locomotion_primitives/P22/session_021/meta.json
+++ b/actions/locomotion_primitives/P22/session_021/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": {
@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.3210827746081355
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 44.31,
+    "offset_rotvec": [
+     0.6883,
+     -0.3349,
+     0.1103
+    ],
+    "dev_deg": {
+     "median": 8.75,
+     "p90": 22.69
+    },
+    "samples": 2359,
+    "accepted": 2247,
+    "wrist_pos_err_mm_median": 60.8,
+    "per_camera": {
+     "head": {
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+      "accepted": 2247,
+      "gate_deg": 30.0,
+      "offset_deg": 44.31,
+      "tier": "primary",
+      "dev_deg_median": 8.75,
+      "wrist_pos_err_mm_median": 60.8
+     }
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+     "interpolated": 1248,
+     "mean_hand": 336,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9686,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.41
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.9,
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+     },
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+     }
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+     "p90": 21.55
+    },
+    "samples": 2191,
+    "accepted": 2100,
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+    "per_camera": {
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+      "accepted": 2100,
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+      "tier": "primary",
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+     }
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+     "interpolated": 1868,
+     "mean_hand": 248,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9768,
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+     "smplx": 0.7
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+      "p90": 6.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:22:05.912092+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_021",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20260930/P22/20260930_091813_session114"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_021/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ceb42618c9131ffe80517ce951c12f9ecc9dbe08
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_021/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3100529
diff --git a/actions/locomotion_primitives/P22/session_021/motions/smplx.npz b/actions/locomotion_primitives/P22/session_021/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_021/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_021/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_022/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_022/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..5216f57ec7699895a5f0b0238e1a3c7d7ec29f39
--- /dev/null
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@@ -0,0 +1,253 @@
+{
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+ },
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+   "usable": true
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+    "right_front",
+    "left_eye",
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+    -0.2713,
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+  },
+  "right_front": {
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+    "left_front",
+    "left_eye",
+    "right_eye",
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+ "factory_root_name": "e17c9efadb69e7b1",
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "daa87191f9b5b3a7",
+ "kind": "online_calibration",
+ "output_sha256": "70c56e765d20f40f7e8c897a743349cc3aaaa286b3f0f3bb6fc61560af70bca1",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
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+  "left_front": 37.202,
+  "right": 36.858,
+  "right_eye": 29.498,
+  "right_front": 37.441
+ },
+ "runtime": {
+  "numpy": "2.4.6",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_022/cameras/slam.npz b/actions/locomotion_primitives/P22/session_022/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..71a34234c3daadbfa69454e6eb91589d243b6ace
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_022/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f59e09e529b76ab3935ffb3cc89af5eb0f29e02719d7dfc0574caa2b0c3d7fc3
+size 514370
diff --git a/actions/locomotion_primitives/P22/session_022/meta.json b/actions/locomotion_primitives/P22/session_022/meta.json
index 8deff7a7a17a96f53cfbfc44e7a3c1673c1ad7ff..46a94a1bb6bd8e33ee6ede945cd3fc417dc0e605 100644
--- a/actions/locomotion_primitives/P22/session_022/meta.json
+++ b/actions/locomotion_primitives/P22/session_022/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -528,10 +528,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1922321385000985
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.3568,
+     -0.4681,
+     -0.1136
+    ],
+    "dev_deg": {
+     "median": 10.86,
+     "p90": 23.95
+    },
+    "samples": 1999,
+    "accepted": 1907,
+    "wrist_pos_err_mm_median": 39.4,
+    "per_camera": {
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+      "accepted": 1907,
+      "gate_deg": 30.0,
+      "offset_deg": 34.35,
+      "tier": "primary",
+      "dev_deg_median": 10.86,
+      "wrist_pos_err_mm_median": 39.4
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 7826,
+     "interpolated": 2846,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9989,
+    "observed_fraction_of_valid": 0.9989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 36.04,
+     "smplx": 0.4
+    },
+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+     }
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+     "p90": 24.8
+    },
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+    "accepted": 1458,
+    "wrist_pos_err_mm_median": 61.2,
+    "per_camera": {
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+      "accepted": 1458,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+     }
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.35
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+      "p90": 7.5
+     },
+     "registered": {
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+      "p90": 8.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:10:53.312822+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_022",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261012/P22/20261012_025214_session42"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_022/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..dbb33d0536878f7f3b27eedc16f395c36021911a
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_022/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b138a41d4af6c9dce0ecd1b59f68f279e78dfdda8c5c320f443e860ff1a9d6b
+size 2456337
diff --git a/actions/locomotion_primitives/P22/session_022/motions/smplx.npz b/actions/locomotion_primitives/P22/session_022/motions/smplx.npz
index 5e48c806577104b2a0ba2a78a87b34acd93ead1f..82c764f50749ce52a8428e090db6c1883c9726e0 100644
--- a/actions/locomotion_primitives/P22/session_022/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_022/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4116671
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diff --git a/actions/locomotion_primitives/P22/session_023/annotations.json b/actions/locomotion_primitives/P22/session_023/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2085e01321dd7e75c38f065fbd3b0420b62ade05
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_023/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 88.966778,
+   "video": "left_eye",
+   "video_t_start": 0.03926533283316935
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2db2e8bb-cca0-4fc2-86ae-54fd1529c2ba",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 1,
+   "end_s": 24,
+   "t_start": 1.0393,
+   "t_end": 24.0393,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
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+   "end_s": 44,
+   "t_start": 24.0393,
+   "t_end": 44.0393,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "edd3ca20-e87f-4e21-be32-d4f38075a4a8",
+   "segment": "segment1",
+   "action": "P22",
+   "quality": "valid",
+   "start_s": 44,
+   "end_s": 65,
+   "t_start": 44.0393,
+   "t_end": 65.0393,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "e18dfb4a-af14-4b51-9b7a-da15b0b2a9da",
+   "segment": "segment1",
+   "action": "P22",
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+   "end_s": 85.551,
+   "t_start": 65.0393,
+   "t_end": 85.5903,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_023/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..125f27367b0048e5f98d6a1fbb29c8f5631fd303
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_023/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.393
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.1952,
+   "gate_fail": [],
+   "held_out_px_after": 0.616,
+   "held_out_px_before": 6.372,
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+   "against": [
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+    "left_eye",
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+    "right_front",
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+    "left",
+    "right"
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+    -0.3614,
+    -0.9482
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left_eye",
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+    "left",
+    "right"
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+    -0.0699,
+    -2.1342
+   ],
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+   "usable": true
+  }
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+  },
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+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "c253f72a530741cd1d6f39c4365c8ae30f1fe4e79cb9fd00e5b5cf39f755067b",
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+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 43.211,
+  "left_front": 42.95,
+  "right": 42.298,
+  "right_eye": 42.862,
+  "right_front": 43.248
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_023/cameras/slam.npz b/actions/locomotion_primitives/P22/session_023/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aa71699f0f135caeda80fcec758996cf58814757
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_023/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce4ae2afe9a346eca5aaaa3958ab8fa40fd224cf457c904b6c8adc3b27f33fe
+size 515071
diff --git a/actions/locomotion_primitives/P22/session_023/meta.json b/actions/locomotion_primitives/P22/session_023/meta.json
index 4d80e69412e3ee33085c602c7feb93886b42f0d0..731b4754b137a043743c48f48af959bc3051531d 100644
--- a/actions/locomotion_primitives/P22/session_023/meta.json
+++ b/actions/locomotion_primitives/P22/session_023/meta.json
@@ -354,8 +354,8 @@
   "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": {
@@ -495,10 +495,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
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+     -0.2966,
+     0.2401
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+     "p90": 22.93
+    },
+    "samples": 1689,
+    "accepted": 1615,
+    "wrist_pos_err_mm_median": 44.4,
+    "per_camera": {
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+      "accepted": 1615,
+      "gate_deg": 30.0,
+      "offset_deg": 21.87,
+      "tier": "primary",
+      "dev_deg_median": 11.12,
+      "wrist_pos_err_mm_median": 44.4
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3006,
+     "mean_hand": 1000,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9064,
+    "observed_fraction_of_valid": 0.9064,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 19.12,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 8.1,
+      "p90": 11.3
+     },
+     "registered": {
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+     }
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+     "p90": 37.29
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+    "accepted": 1272,
+    "wrist_pos_err_mm_median": 59.3,
+    "per_camera": {
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+      "accepted": 1272,
+      "gate_deg": 30.0,
+      "offset_deg": 13.99,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 59.3
+     }
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+    "palm_axis_vs_markers_deg": {
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+    },
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+      "p90": 10.3
+     },
+     "registered": {
+      "median": 6.8,
+      "p90": 9.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:07:47.995354+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_023",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261013/P22/20261013_090132_session152"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_023/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..777dbad7903f3dee81712ec6f2fb59b1dc68b98c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_023/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7297f25803e41cb460eb1402056449d02234710a66b9b815b7cb5263d8beeada
+size 2269374
diff --git a/actions/locomotion_primitives/P22/session_023/motions/smplx.npz b/actions/locomotion_primitives/P22/session_023/motions/smplx.npz
index 01028b75a4ee9649930c2a04640ead4de5634d4b..f7d1a69d303fea5023f45720dbfc0451cd50f3c7 100644
--- a/actions/locomotion_primitives/P22/session_023/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_023/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:096e224d8332502764ce824dc62c0216d212e4298d7fc049852f64f26bc1b8ae
-size 4133836
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diff --git a/actions/locomotion_primitives/P22/session_024/annotations.json b/actions/locomotion_primitives/P22/session_024/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3503f8ac3372d781523e94d1595bc34cfceff4fd
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_024/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 93.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03888146246311708
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "P22",
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+   "end_s": 23.218,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
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+   "segment": "segment1",
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+   "t_start": 23.2569,
+   "t_end": 44.2569,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P22",
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+   "start_s": 44.218,
+   "end_s": 66.627,
+   "t_start": 44.2569,
+   "t_end": 66.6659,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
+   "id": "f584c56b-bd0a-4030-b554-abf02a4d3657",
+   "segment": "segment1",
+   "action": "P22",
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+   "end_s": 86.146,
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+   "t_end": 86.1849,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_024/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aabff860138eed6fcdc721b4040d616de7ca087
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_024/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.378
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.3137,
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+    -0.4204,
+    -1.2427
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "held_out_px_before": 5.539,
+   "inliers": 5491,
+   "position_fitted": true,
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+    4.52,
+    -11.69,
+    9.65
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+   "position_split_mm": 0.966,
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+    0.8193,
+    -2.3177
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+   "usable": true
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+  },
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+   "against": [
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+    "left_eye",
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+   "usable": true
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+   "position_mm": [
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+   "position_split_mm": 0.757,
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+    -1.0052
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+   "usable": true
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "281f6f9710e3b3f2b876a283d01eae6db61d72beaf240445ef75afd7bacc3d00",
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+  },
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+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+  }
+ },
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+ "kind": "online_calibration",
+ "output_sha256": "cd77919b46749f9806bc706ef36de83e236d9cabdbc2d27fe5be3a4ddfc48f61",
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+  "right_front-right_eye": 0.734
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+ "picture_change": {
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+  "left_front": 42.993,
+  "right": 39.755,
+  "right_eye": 39.245,
+  "right_front": 42.958
+ },
+ "runtime": {
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+  "opencv": "5.0.0",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_024/cameras/slam.npz b/actions/locomotion_primitives/P22/session_024/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d0a62f6dc49971260878f8b2487ab28849fc26f5
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_024/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750b6a22f7af334b132a20b1658613bf96acaead3b5f4af5dcf6c4b00481fff7
+size 543682
diff --git a/actions/locomotion_primitives/P22/session_024/meta.json b/actions/locomotion_primitives/P22/session_024/meta.json
index ec56a0d5786d8aee6da56ce98374afcf615a1542..90b7f6b2d4894d2f5ce2b2304c0408b42a897771 100644
--- a/actions/locomotion_primitives/P22/session_024/meta.json
+++ b/actions/locomotion_primitives/P22/session_024/meta.json
@@ -365,8 +365,8 @@
   "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": {
@@ -511,10 +511,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+    "accepted": 1884,
+    "wrist_pos_err_mm_median": 44.8,
+    "per_camera": {
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+      "accepted": 1884,
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+      "offset_deg": 24.13,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 44.8
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9986,
+    "palm_axis_vs_markers_deg": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T22:07:23.229072+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261013/P22/20261013_090312_session153"
+ },
+ "task": {
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+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
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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_primitives/P22/session_024/motions/smplx.npz b/actions/locomotion_primitives/P22/session_024/motions/smplx.npz
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--- a/actions/locomotion_primitives/P22/session_024/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P22/session_025/annotations.json b/actions/locomotion_primitives/P22/session_025/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae47fa0afee79ae8e0ddd0194300c8b571bc9b03
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_025/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
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+   "video": "left_eye",
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+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_025/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_025/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7230c129b0c8728049d216b9bcae83da6ce5a09
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_025/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
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+  "groups_used": 14,
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+   5745732084000,
+   5749732106222,
+   5750732095111
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_025/cameras/slam.npz b/actions/locomotion_primitives/P22/session_025/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b9ce3f763ed8be27c589351457f255d61050c5f4
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_025/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd92c16a74f17fdb110c2e30a1e29412ec50f5ea28478ac990da9e3d2a83d8c6
+size 754458
diff --git a/actions/locomotion_primitives/P22/session_025/meta.json b/actions/locomotion_primitives/P22/session_025/meta.json
index dba2cf153483437f8228017676ada32d72b6bca9..500818eded6eb8d30040ff0287751d52dcda2e67 100644
--- a/actions/locomotion_primitives/P22/session_025/meta.json
+++ b/actions/locomotion_primitives/P22/session_025/meta.json
@@ -380,8 +380,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -526,10 +526,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 26.72,
+    "offset_rotvec": [
+     0.1826,
+     -0.398,
+     -0.1605
+    ],
+    "dev_deg": {
+     "median": 16.72,
+     "p90": 37.27
+    },
+    "samples": 2593,
+    "accepted": 2122,
+    "wrist_pos_err_mm_median": 50.4,
+    "per_camera": {
+     "head": {
+      "samples": 2593,
+      "accepted": 2122,
+      "gate_deg": 30.0,
+      "offset_deg": 26.72,
+      "tier": "primary",
+      "dev_deg_median": 16.72,
+      "wrist_pos_err_mm_median": 50.4
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 6802,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 30.18,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 7.5,
+      "p90": 9.9
+     },
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+     }
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+     0.2485,
+     0.1279
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+    "accepted": 1973,
+    "wrist_pos_err_mm_median": 61.7,
+    "per_camera": {
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+      "accepted": 1973,
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+      "offset_deg": 21.57,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 61.7
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+    },
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+      "p90": 18.7
+     },
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+      "p90": 18.1
+     }
+    }
+   }
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:39:26.746437+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_025",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261017/P22/20261017_021245_session18"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_025/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_025/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c79e631878b91fb9d220fef3e2820a1997dd9bf9
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_025/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b901deb521dcaa97594bd6d58c3cc96236cb8de57611ec1496b38894b544e240
+size 3433106
diff --git a/actions/locomotion_primitives/P22/session_025/motions/smplx.npz b/actions/locomotion_primitives/P22/session_025/motions/smplx.npz
index 3fdb4caf426272f3720b6970e15178ef8b023e98..a8526f2d409ece9747f0a7257db14c10ab06c09d 100644
--- a/actions/locomotion_primitives/P22/session_025/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_025/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b1100f7bef3b701a1fa0e777dc8833d0f3534ce06e726d3a09837e811e62be4c
-size 6055470
+oid sha256:cd00b9c79e34915d54d41b2949371f0937546099b36d1bfa822dc3d6356e20f9
+size 11264859
diff --git a/actions/locomotion_primitives/P22/session_026/annotations.json b/actions/locomotion_primitives/P22/session_026/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e2e8101f0c6b6cc42f37338e34767c4a5474a8d
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_026/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
+  {
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+   "duration_s": 132.9667,
+   "video": "left_eye",
+   "video_t_start": 0.03945747472558972
+  }
+ ],
+ "episodes": [
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+  },
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+   "t_end": 95.4415,
+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_026/meta.json b/actions/locomotion_primitives/P22/session_026/meta.json
index d2f5c01d5ddeda08fe64e484a7badacb0f88faa5..87517abb371ecd6616b02f0756a8e367f2292dec 100644
--- a/actions/locomotion_primitives/P22/session_026/meta.json
+++ b/actions/locomotion_primitives/P22/session_026/meta.json
@@ -532,5 +532,9 @@
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261017/P22/20261017_021509_session19"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_027/annotations.json b/actions/locomotion_primitives/P22/session_027/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec2cc45b9a89764751637da4d53aa1fba2c8895a
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_027/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
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+   "video": "left_eye",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_027/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_027/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc46faeefcd498fd34304071addd6ef26a0d31ad
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_027/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
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diff --git a/actions/locomotion_primitives/P22/session_027/cameras/slam.npz b/actions/locomotion_primitives/P22/session_027/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..24e50000f1b22808b1867d1cebf1c8d9b7f6c183
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_027/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P22/session_027/meta.json b/actions/locomotion_primitives/P22/session_027/meta.json
index 4e826d20145ffeaac011abee11f43e695c3950dc..7ed0aec7acd784eec1f4f6968005744a8cb9842d 100644
--- a/actions/locomotion_primitives/P22/session_027/meta.json
+++ b/actions/locomotion_primitives/P22/session_027/meta.json
@@ -381,8 +381,8 @@
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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": {
@@ -532,10 +532,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.257,
+     -0.4358,
+     0.1561
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+     "p90": 36.24
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+    "accepted": 1501,
+    "wrist_pos_err_mm_median": 61.2,
+    "per_camera": {
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+      "accepted": 1501,
+      "gate_deg": 30.0,
+      "offset_deg": 30.34,
+      "tier": "primary",
+      "dev_deg_median": 19.95,
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+     "mean_hand": 596,
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+    "palm_axis_vs_markers_deg": {
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:20:04.661962+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261019/P22/20261019_041557_session51"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
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new file mode 100644
index 0000000000000000000000000000000000000000..062e56da76e110a7e6b31612196219ae7c471d0b
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_027/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2961518
diff --git a/actions/locomotion_primitives/P22/session_027/motions/smplx.npz b/actions/locomotion_primitives/P22/session_027/motions/smplx.npz
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+++ b/actions/locomotion_primitives/P22/session_027/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4244294
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diff --git a/actions/locomotion_primitives/P22/session_028/annotations.json b/actions/locomotion_primitives/P22/session_028/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d1b28dd1446c16dc0324099a4570a069d99720f
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_028/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
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+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_028/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_028/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8aa6c3899b3ca734be3e62196b5b19e3d33c134
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_028/cameras/gsi_online_calibration.json
@@ -0,0 +1,251 @@
+{
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+  "groups_used": 14,
+  "median_px": 0.404
+ },
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+   "against": [
+    "left_front",
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+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "usable": true
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+    2.2964
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+ "device_id": "c9205ac6e17d2d5c",
+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+}
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diff --git a/actions/locomotion_primitives/P22/session_028/cameras/slam.npz b/actions/locomotion_primitives/P22/session_028/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9baee5000794f9b5d16950273582ceb4626d6243
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_028/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 518166
diff --git a/actions/locomotion_primitives/P22/session_028/meta.json b/actions/locomotion_primitives/P22/session_028/meta.json
index 5ce2593845e8416be1570790d095ee288eaf00ec..1b656f80df86de122dd6d9b90cb46176b55751e7 100644
--- a/actions/locomotion_primitives/P22/session_028/meta.json
+++ b/actions/locomotion_primitives/P22/session_028/meta.json
@@ -381,8 +381,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -523,10 +523,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+  "hands": {
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+      "tier": "primary",
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+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261019/P22/20261019_041751_session52"
+ },
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+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_028/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_028/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 3143300
diff --git a/actions/locomotion_primitives/P22/session_028/motions/smplx.npz b/actions/locomotion_primitives/P22/session_028/motions/smplx.npz
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+++ b/actions/locomotion_primitives/P22/session_028/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..77df6bf0aa6de67e87db7f41aa9fc06d57f54d8c
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_029/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P22",
+ "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes.",
+ "segments": [
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+   "video": "left_eye",
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+  }
+ ],
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+   "end_s": 65.361,
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+   "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P22/session_029/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P22/session_029/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..acf1548c6fa8e368e71ba87f30922f920e7ccccf
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_029/cameras/gsi_online_calibration.json
@@ -0,0 +1,243 @@
+{
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+ },
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+   "usable": true
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+    "left_front",
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+    "right_eye",
+    "left",
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+    1.5576
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+    "right_front",
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+    -1.1569,
+    2.6405
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+   "usable": true
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+    "right"
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+    -2.74
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+   "rotvec_deg": [
+    2.0054,
+    -1.1999,
+    2.2542
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
+    "right"
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+ },
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+ "factory_root_name": "c9205ac6e17d2d5c",
+ "files": {
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+  },
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+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "b2a2dcb02c253443",
+ "kind": "online_calibration",
+ "output_sha256": "06fa12886a984ab3f1a72723ff05c8c94544d0cda9f2ad6e4343b8b5d95ca642",
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+  "right_front-left": 0.49,
+  "right_front-left_eye": 0.697,
+  "right_front-right": 0.464,
+  "right_front-right_eye": 0.704
+ },
+ "picture_change": {
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+  "left_front": 37.31,
+  "right": 38.846,
+  "right_eye": 34.104,
+  "right_front": 35.84
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P22/session_029/cameras/slam.npz b/actions/locomotion_primitives/P22/session_029/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..62b35aa76062d1a183c011367ee727899ba9af66
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_029/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c403d3c625a66d8174d56b15533c9c9e6c2a504509d75c51e13deb3e7b46d25
+size 523391
diff --git a/actions/locomotion_primitives/P22/session_029/meta.json b/actions/locomotion_primitives/P22/session_029/meta.json
index 84ddbb85537e989b9c4b5f5df9b096733aa350e1..dd95c524869c73684cc1529afa8729848bef2b26 100644
--- a/actions/locomotion_primitives/P22/session_029/meta.json
+++ b/actions/locomotion_primitives/P22/session_029/meta.json
@@ -365,8 +365,8 @@
   "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": {
+   "left": {
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+    "offset_rotvec": [
+     0.3752,
+     -0.22,
+     0.0008
+    ],
+    "dev_deg": {
+     "median": 17.33,
+     "p90": 35.37
+    },
+    "samples": 2254,
+    "accepted": 1914,
+    "wrist_pos_err_mm_median": 43.0,
+    "per_camera": {
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+      "accepted": 1914,
+      "gate_deg": 30.0,
+      "offset_deg": 24.92,
+      "tier": "primary",
+      "dev_deg_median": 17.33,
+      "wrist_pos_err_mm_median": 43.0
+     }
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+     "interpolated": 2340,
+     "mean_hand": 760,
+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.83
+    },
+    "hand_marker_to_mesh_mm": {
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+    "accepted": 2188,
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+      "accepted": 2188,
+      "gate_deg": 30.0,
+      "offset_deg": 15.43,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 56.8
+     }
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+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9501,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.17
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.0
+     },
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+      "p90": 9.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T19:54:52.034992+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P22/session_029",
   "family": "locomotion_primitives",
   "primitive": "P22",
   "source_session": "20261020/P22/20261020_092940_session42"
+ },
+ "task": {
+  "primitive": "P22",
+  "instruction": "Walk through randomly placed floor targets; choose natural path; include turns and speed changes."
  }
 }
diff --git a/actions/locomotion_primitives/P22/session_029/motions/hands_mano.npz b/actions/locomotion_primitives/P22/session_029/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..759e7a5104b7e649a372ea18d08327fca00f1f5e
--- /dev/null
+++ b/actions/locomotion_primitives/P22/session_029/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e472991195034c11a93b7900fcc2991bf42ead0a489299c1f8c797ba5e01aac
+size 3108164
diff --git a/actions/locomotion_primitives/P22/session_029/motions/smplx.npz b/actions/locomotion_primitives/P22/session_029/motions/smplx.npz
index c823a8fcf5e87a69b230d30a85721db2d5017418..f3634bbcc9eda93d35ca779602d4b0bff7ba5dfe 100644
--- a/actions/locomotion_primitives/P22/session_029/motions/smplx.npz
+++ b/actions/locomotion_primitives/P22/session_029/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P23/session_001/annotations.json b/actions/locomotion_primitives/P23/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c6da3200c7b8e106fda67e9d2abf2febb24695a
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_001/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 183.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038130431028146505
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5275cd30-f600-4fb0-a3d2-2d894e9090ca",
+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
+   "start_s": 1.666,
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..08f9ee4c591c44a32c8dec1c22a8273996e75538
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 175,
+    "median_px": 11.67,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.394
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9599,
+   "gate_fail": [],
+   "held_out_px_after": 0.558,
+   "held_out_px_before": 6.537,
+   "inliers": 1622,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0888,
+    0.8175,
+    0.4952
+   ],
+   "split_deg": 0.0528,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0516,
+   "gate_fail": [],
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+   "held_out_px_before": 2.559,
+   "inliers": 3007,
+   "position_fitted": true,
+   "position_mm": [
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+    6.09,
+    11.63
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+   "position_split_mm": 0.832,
+   "rotvec_deg": [
+    0.0734,
+    0.6994,
+    -0.7819
+   ],
+   "split_deg": 0.0375,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.2983,
+   "gate_fail": [],
+   "held_out_px_after": 0.619,
+   "held_out_px_before": 2.619,
+   "inliers": 2001,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1799,
+    -0.1435,
+    -0.1898
+   ],
+   "split_deg": 0.0806,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 2.25,
+   "inliers": 3191,
+   "position_fitted": true,
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+    4.78,
+    10.46
+   ],
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+   "position_split_mm": 1.285,
+   "rotvec_deg": [
+    0.1032,
+    0.3379,
+    -0.5886
+   ],
+   "split_deg": 0.0317,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.3627,
+    0.4558,
+    -1.8057
+   ],
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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": "9280d30f9b5ab649bbf873a58319a776ede8d9b4a7cbdf221c041ea75a452c54",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4365025e180519f4fd38bab310f59d98b0495cd0edfd04d7dd30c3df2d1d9e0f",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4f776a47440cb72881a27141244084d7192a210b730cc01f654d450f307817cb",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "95c9333d4f5ba841d012bfe82c064ab2c4debe0d4d0e87c011201f31c972bec8",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "302fda3513d1f4ee",
+ "kind": "online_calibration",
+ "output_sha256": "3cfcc844fe1ff10aedfee0f5e0ac89a63d8fc114abf1653742ac75caaea17ec6",
+ "overlap": {
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+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 40.647,
+  "left_eye": 40.134,
+  "left_front": 51.199,
+  "right": 40.515,
+  "right_eye": 41.917,
+  "right_front": 51.959
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   8427385938000,
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+   8433385926888,
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+   8595385938000,
+   8601385938000,
+   8602385926888
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_001/cameras/slam.npz b/actions/locomotion_primitives/P23/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9803ebf04208f5a2d72ae60460e51d7518d7519c
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1623611fe67c3352dfee2f343f46f110e63be6580d75d9781a54cd2596a035a
+size 1057220
diff --git a/actions/locomotion_primitives/P23/session_001/meta.json b/actions/locomotion_primitives/P23/session_001/meta.json
index 351cf10b19f4ccae0edd7da1535210674c2dedd4..48d02745f0d8daddb3e0e221aac2b1a3ee378c6d 100644
--- a/actions/locomotion_primitives/P23/session_001/meta.json
+++ b/actions/locomotion_primitives/P23/session_001/meta.json
@@ -333,8 +333,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -519,10 +519,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.31,
+    "offset_rotvec": [
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+     -0.2556,
+     0.0106
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+    "dev_deg": {
+     "median": 10.29,
+     "p90": 23.11
+    },
+    "samples": 4701,
+    "accepted": 4480,
+    "wrist_pos_err_mm_median": 51.3,
+    "per_camera": {
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+      "samples": 4701,
+      "accepted": 4480,
+      "gate_deg": 30.0,
+      "offset_deg": 17.31,
+      "tier": "primary",
+      "dev_deg_median": 10.29,
+      "wrist_pos_err_mm_median": 51.3
+     }
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+    "frames_by_state": {
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+     "interpolated": 3472,
+     "mean_hand": 360,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9837,
+    "observed_fraction_of_valid": 0.9837,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.45,
+     "smplx": 1.53
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 7.9
+     },
+     "registered": {
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+      "p90": 8.9
+     }
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+   },
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+     0.0089,
+     0.1283
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+    "accepted": 4455,
+    "wrist_pos_err_mm_median": 78.6,
+    "per_camera": {
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+      "accepted": 4455,
+      "gate_deg": 30.0,
+      "offset_deg": 8.06,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 78.6
+     }
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+     "interpolated": 3472,
+     "mean_hand": 452,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9795,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.94
+    },
+    "hand_marker_to_mesh_mm": {
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+      "median": 5.4,
+      "p90": 6.3
+     },
+     "registered": {
+      "median": 5.2,
+      "p90": 6.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:01:51.036514+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_001",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260831/P23/20260831_035539_session29"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..74a73f88935712dce26cf2acfe7c97933fda548a
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa10d660c9ea813678ca23afaaba269f84b4d8d0826aba029bd8e1ae8652fcd
+size 6475625
diff --git a/actions/locomotion_primitives/P23/session_001/motions/smplx.npz b/actions/locomotion_primitives/P23/session_001/motions/smplx.npz
index 7dc61f95f6a4cadf74d6a7d9269fe8f3c62574a9..2fa51bd6150cea309a95bc31db4f42d7ce6e8044 100644
--- a/actions/locomotion_primitives/P23/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d891541c4745a0f4f64cb2b37bdd11d6b65347e747ee1f0b88fa3ea3b1bd1410
-size 8495226
+oid sha256:bb1e4100229f1bcce1a07bdd73ecaea05644f499e96adf5d954053a317e8ea91
+size 15831201
diff --git a/actions/locomotion_primitives/P23/session_002/annotations.json b/actions/locomotion_primitives/P23/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..66a5f6af4bb14948183b83a349b570c8cb91bbdb
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_002/annotations.json
@@ -0,0 +1,72 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 178.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03804078876665029
+  }
+ ],
+ "episodes": [
+  {
+   "id": "2f60bf60-9d1b-4e87-89ce-1feabf2fc7d6",
+   "segment": "segment1",
+   "action": "P23",
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+   "start_s": 1.28,
+   "end_s": 32.792,
+   "t_start": 1.318,
+   "t_end": 32.83,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
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+   "end_s": 67.318,
+   "t_start": 34.806,
+   "t_end": 67.356,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "4b5ad699-45ec-467b-8eb3-5f3fda32eeeb",
+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
+   "start_s": 69.364,
+   "end_s": 103.876,
+   "t_start": 69.402,
+   "t_end": 103.914,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "85edea89-3602-47b2-b13b-f26141c03cef",
+   "segment": "segment1",
+   "action": "P23",
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+   "start_s": 107.239,
+   "end_s": 138.886,
+   "t_start": 107.277,
+   "t_end": 138.924,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "6f32cd79-b3ed-4728-9b01-e2f77d0cc614",
+   "segment": "segment1",
+   "action": "P23",
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+   "end_s": 171.838,
+   "t_start": 141.132,
+   "t_end": 171.876,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7f4340353e55f30d9ce3fd1f18802e5adfdd95c
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 127,
+    "median_px": 17.64,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.354
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.925,
+   "gate_fail": [],
+   "held_out_px_after": 0.512,
+   "held_out_px_before": 6.953,
+   "inliers": 1793,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.7946,
+    0.4636
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+    0.7222,
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+  },
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+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+    -0.1615,
+    -0.1725
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 2.024,
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+    5.98,
+    11.47
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+   "rotvec_deg": [
+    0.1022,
+    0.3216,
+    -0.6123
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "right_eye",
+    "left",
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+    0.4979,
+    -1.7802
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+   "usable": true
+  }
+ },
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+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+ "kind": "online_calibration",
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+  "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": 40.81,
+  "left_front": 46.932,
+  "right": 43.16,
+  "right_eye": 42.006,
+  "right_front": 46.794
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_002/cameras/slam.npz b/actions/locomotion_primitives/P23/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4fe10b05bddae920e072ed55acdcb66c4921c9a7
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f654d0462e1a9c8c54d8b689eacf5ef9f7462897a4a2ed6e45423e30d9784b6
+size 1027643
diff --git a/actions/locomotion_primitives/P23/session_002/meta.json b/actions/locomotion_primitives/P23/session_002/meta.json
index 380f45b6ddda6f678363c1cfb092d7d952cc265d..d66e2321ba118ef0526bebaf43523c397eb6ee1a 100644
--- a/actions/locomotion_primitives/P23/session_002/meta.json
+++ b/actions/locomotion_primitives/P23/session_002/meta.json
@@ -333,8 +333,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -519,10 +519,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.2639,
+     0.0177
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+     "p90": 26.29
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+    "samples": 4395,
+    "accepted": 4087,
+    "wrist_pos_err_mm_median": 47.3,
+    "per_camera": {
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+      "accepted": 4087,
+      "gate_deg": 30.0,
+      "offset_deg": 17.66,
+      "tier": "primary",
+      "dev_deg_median": 10.68,
+      "wrist_pos_err_mm_median": 47.3
+     }
+    },
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+     "interpolated": 4720,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9994,
+    "observed_fraction_of_valid": 0.9998,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.43,
+     "smplx": 1.0
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+    "hand_marker_to_mesh_mm": {
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+    "accepted": 4576,
+    "wrist_pos_err_mm_median": 73.2,
+    "per_camera": {
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+      "accepted": 4576,
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+      "p90": 8.2
+     }
+    }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:01:49.528970+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_002",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260831/P23/20260831_035901_session30"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..78be9f6f6841928eaf1f23d627bab59b98392af8
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a75a14b63996524a6c956bd69bc5d16963a8b2ece34d98b2ea2e427f4f48938
+size 6319115
diff --git a/actions/locomotion_primitives/P23/session_002/motions/smplx.npz b/actions/locomotion_primitives/P23/session_002/motions/smplx.npz
index 5a13518a5ef1197e14fe42bd4ed55ad92b364c22..605e3557fccb76eaf5dea4c3b4d202b9fd892cd6 100644
--- a/actions/locomotion_primitives/P23/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 8274896
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diff --git a/actions/locomotion_primitives/P23/session_003/annotations.json b/actions/locomotion_primitives/P23/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..29958f258fb0ef3fb5c6fa70b1fce540ca49f866
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_003/annotations.json
@@ -0,0 +1,72 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 2)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
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+   "video": "left_eye",
+   "video_t_start": 0.03862001896627376
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..865832c3743e0c404c7e03a4ffb69e967b254324
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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+  "median_px": 0.365
+ },
+ "cameras": {
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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": {
+   "sha256": "13270c7b8b1240773119d0c2f9bdea7e5b240c4a478e126e0cc03265b3f9bca0",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6bdda9046f636036f15950571a581068e85b1ff1c0a5c142395d80d2fb9879be",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "35542495ac0f1cdf3c723d65db1c31d3545407d83c4fdf8373e8f0a5dabf3ea1",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "82d49cdba094aed0",
+ "kind": "online_calibration",
+ "output_sha256": "9b20798596367921c11cff930521e6b2945b7c7bc1e3168650df2e9ebd1cd642",
+ "overlap": {
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+  "left_eye-left": 0.707,
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+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 34.544,
+  "left_front": 44.712,
+  "right": 40.165,
+  "right_eye": 36.642,
+  "right_front": 44.874
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   9277484814333,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_003/cameras/slam.npz b/actions/locomotion_primitives/P23/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cdcd96a03872d42538f27c691e8474b4f8672ead
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a119fd27054374938da8ae4e9105a9a0ea430ff1227622c0b3cd766c5b286e6
+size 1286615
diff --git a/actions/locomotion_primitives/P23/session_003/meta.json b/actions/locomotion_primitives/P23/session_003/meta.json
index 22dc4508c4c68205af755069ca52e6839885993f..1e6e87b2e45c811b9b1cd00f33b658df479d0087 100644
--- a/actions/locomotion_primitives/P23/session_003/meta.json
+++ b/actions/locomotion_primitives/P23/session_003/meta.json
@@ -333,8 +333,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.36,
+    "offset_rotvec": [
+     -0.1382,
+     -0.2696,
+     0.0051
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+     "median": 10.68,
+     "p90": 25.88
+    },
+    "samples": 5652,
+    "accepted": 5262,
+    "wrist_pos_err_mm_median": 49.2,
+    "per_camera": {
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+      "samples": 5652,
+      "accepted": 5262,
+      "gate_deg": 30.0,
+      "offset_deg": 17.36,
+      "tier": "primary",
+      "dev_deg_median": 10.68,
+      "wrist_pos_err_mm_median": 49.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 21554,
+     "interpolated": 5318,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9996,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.35,
+     "smplx": 0.88
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.2,
+      "p90": 7.3
+     },
+     "registered": {
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+      "p90": 8.1
+     }
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+     -0.0138,
+     0.1025
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+     "median": 9.3,
+     "p90": 26.17
+    },
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+    "accepted": 5387,
+    "wrist_pos_err_mm_median": 70.3,
+    "per_camera": {
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+      "accepted": 5387,
+      "gate_deg": 30.0,
+      "offset_deg": 7.1,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 70.3
+     }
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+     "interpolated": 4868,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
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+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.69
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 6.2
+     },
+     "registered": {
+      "median": 5.2,
+      "p90": 5.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:02:09.035257+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_003",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260831/P23/20260831_040615_session32"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5156a3377e7dd1e588ae01d846639e25c2f9764
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d74b59e562d8d5175e852732d66db08d8e7f5b1392539507867b68330f1adc00
+size 7783895
diff --git a/actions/locomotion_primitives/P23/session_003/motions/smplx.npz b/actions/locomotion_primitives/P23/session_003/motions/smplx.npz
index 669dadfbec4ab88455eb30f87386dd7fe2fd0403..2329958400c4121e0fb3a1b2f478d8623c033017 100644
--- a/actions/locomotion_primitives/P23/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 10353725
+oid sha256:c94866b77bedc55991ed3274246211b86e0cb54d16330eefc6643a23f8d6a6ca
+size 19391908
diff --git a/actions/locomotion_primitives/P23/session_004/annotations.json b/actions/locomotion_primitives/P23/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b164e9dde9e8a41a252978f8cb88a1ccb9a47b
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_004/annotations.json
@@ -0,0 +1,83 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
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+   "video": "left_eye",
+   "video_t_start": 0.0383828405463742
+  }
+ ],
+ "episodes": [
+  {
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+   "end_s": 49.417,
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
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+  },
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+   "segment": "segment1",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
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+  {
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+   "t_start": 192.3534,
+   "t_end": 238.7244,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6f75b0af0117329ff3110970ea46ac231a7043
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 187,
+    "median_px": 36.0,
+    "pair": [
+     "left",
+     "right"
+    ]
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+  "groups_used": 14,
+  "median_px": 0.376
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 6.714,
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+   "rotvec_deg": [
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+    0.8119,
+    0.3757
+   ],
+   "split_deg": 0.0587,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "position_fitted": true,
+   "position_mm": [
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+    5.16,
+    10.73
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+   "position_split_mm": 5.662,
+   "rotvec_deg": [
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+    0.7241,
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+   "split_deg": 0.1912,
+   "usable": true
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+  "left_front": {
+   "role": "rig origin"
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+  "right": {
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+    "right_front",
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+   "position_fitted": false,
+   "rotvec_deg": [
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+   "split_deg": 0.1697,
+   "usable": true
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+  "right_eye": {
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+    "left",
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+    8.01
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+  },
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+   "sha256": "06dec67029476c63470ffa397f7699a29cf931486ffee5835c6e06e402957217",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "7b71e64c08884c0f",
+ "kind": "online_calibration",
+ "output_sha256": "201677da59a97b72ac0c3d14822615cb5e244367a37bf3603b21da7ec7c6501d",
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 34.986,
+  "left_front": 42.531,
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diff --git a/actions/locomotion_primitives/P23/session_004/cameras/slam.npz b/actions/locomotion_primitives/P23/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c91875f8fe6fed82cb1ea9a80143dca6960bcd67
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P23/session_004/meta.json b/actions/locomotion_primitives/P23/session_004/meta.json
index 89fd56820181ed47b168946dc73b5c0195aa081a..bc27a25c7d1e12302c207e19215c2514e9a38182 100644
--- a/actions/locomotion_primitives/P23/session_004/meta.json
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@@ -334,8 +334,8 @@
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@@ -515,10 +515,124 @@
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   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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  }
 }
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_005/annotations.json
@@ -0,0 +1,50 @@
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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",
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+}
diff --git a/actions/locomotion_primitives/P23/session_005/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_005/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..895c8c55a20db786bcf12e40a7a08254ad28f336
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_005/cameras/gsi_online_calibration.json
@@ -0,0 +1,267 @@
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diff --git a/actions/locomotion_primitives/P23/session_005/cameras/slam.npz b/actions/locomotion_primitives/P23/session_005/cameras/slam.npz
new file mode 100644
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index de4414935926283ccc363c317d1543232f655a20..eff199613cc7a844e5d870781a128d968f1a3ca4 100644
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@@ -390,8 +390,8 @@
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   "hands": {
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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     "left": {
@@ -530,10 +530,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+     }
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+     }
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+   }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:31:14.325669+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260903/P23/20260903_074242_session32"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c038afca0019a036a4ca11d35d00f0e7d5c9ebef
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3700980
diff --git a/actions/locomotion_primitives/P23/session_005/motions/smplx.npz b/actions/locomotion_primitives/P23/session_005/motions/smplx.npz
index 887e69afac95ccda6d884359649d55e91c620051..db60b2cbfcb22c60943bc8f60c0dbe0be8fa968a 100644
--- a/actions/locomotion_primitives/P23/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P23/session_006/annotations.json b/actions/locomotion_primitives/P23/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c6055726fb61bc27f7ed55e8406d8f8c2034d1a
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_006/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 193.966522,
+   "video": "left_eye",
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+  }
+ ],
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+   "action": "P23",
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+   "end_s": 41.693,
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
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+   "end_s": 117.406,
+   "t_start": 43.818,
+   "t_end": 117.445,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..76dd1b5aad20201d5f7fbc75828ad2e1c594c2ae
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
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+    "median_px": 624.24,
+    "pair": [
+     "left",
+     "right"
+    ]
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+  ],
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+  "median_px": 0.358
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.0428,
+    0.7033,
+    0.2367
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
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+   "position_split_mm": 3.696,
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+    0.6826,
+    -0.807
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+   "usable": true
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+   "role": "rig origin"
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3857,
+    -0.1326,
+    0.0712
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7783,
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+   "held_out_px_before": 2.061,
+   "inliers": 4565,
+   "position_fitted": true,
+   "position_mm": [
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+    12.19,
+    6.88
+   ],
+   "position_sigma_mm": 0.381,
+   "position_split_mm": 6.591,
+   "rotvec_deg": [
+    0.2566,
+    0.3282,
+    -0.6574
+   ],
+   "split_deg": 0.085,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 7.826,
+   "inliers": 5642,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3381,
+    0.48,
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+   ],
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e6fec93ae6eb8eb05263db925eb2e7465185abf9261ac00c82ee8ccda011d401",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "sha256": "63bce20b87addd97f1943d2ea2b72d5f68fa14e64e96d9f84a75404ca3b98e3a",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+   "sha256": "dad928201cf3c1bdf7e6e140f5f0c9593b39f13afb840cdaf8632cf2eb5217c0",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "967bd091e4aef948e5f4cc7d8ed126b8f374f580b0e5a7a5d6411074623b3e14",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "630144502c000e15",
+ "kind": "online_calibration",
+ "output_sha256": "23089b64dca3278d51049ff6bb962f34d71e0738ac771cf64dfae717279e1277",
+ "overlap": {
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+  "left_front-left_eye": 0.709,
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+  "left_front-right_front": 1.0,
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+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 31.659,
+  "left_front": 40.167,
+  "right": 39.587,
+  "right_eye": 33.136,
+  "right_front": 41.306
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_006/cameras/slam.npz b/actions/locomotion_primitives/P23/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f0a04df91010a00138edbdc2036946c8a9e62c97
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab583cd9526488484358f60882e0a3715bc33bbd7a35406d0ca247375827e03
+size 1112656
diff --git a/actions/locomotion_primitives/P23/session_006/meta.json b/actions/locomotion_primitives/P23/session_006/meta.json
index 5dbad32e63a9a3000b0dfed9ab27e4ecfe33caf0..14827ffbcd85f6c79934aa302e1e4e6808d9fb6c 100644
--- a/actions/locomotion_primitives/P23/session_006/meta.json
+++ b/actions/locomotion_primitives/P23/session_006/meta.json
@@ -349,8 +349,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -530,10 +530,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.75,
+    "offset_rotvec": [
+     -0.1716,
+     -0.2062,
+     -0.0599
+    ],
+    "dev_deg": {
+     "median": 10.06,
+     "p90": 27.09
+    },
+    "samples": 4408,
+    "accepted": 4064,
+    "wrist_pos_err_mm_median": 52.7,
+    "per_camera": {
+     "head": {
+      "samples": 4408,
+      "accepted": 4064,
+      "gate_deg": 30.0,
+      "offset_deg": 15.75,
+      "tier": "primary",
+      "dev_deg_median": 10.06,
+      "wrist_pos_err_mm_median": 52.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 16958,
+     "interpolated": 6279,
+     "mean_hand": 12,
+     "no_body_fit": 35
+    },
+    "observed_fraction": 0.998,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.12,
+     "smplx": 2.91
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.4,
+      "p90": 11.1
+     },
+     "registered": {
+      "median": 11.0,
+      "p90": 12.7
+     }
+    }
+   },
+   "right": {
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+     -0.0724,
+     0.1403
+    ],
+    "dev_deg": {
+     "median": 10.62,
+     "p90": 29.41
+    },
+    "samples": 4202,
+    "accepted": 3802,
+    "wrist_pos_err_mm_median": 63.6,
+    "per_camera": {
+     "head": {
+      "samples": 4202,
+      "accepted": 3802,
+      "gate_deg": 30.0,
+      "offset_deg": 10.42,
+      "tier": "primary",
+      "dev_deg_median": 10.62,
+      "wrist_pos_err_mm_median": 63.6
+     }
+    },
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+     "interpolated": 7297,
+     "mean_hand": 12,
+     "no_body_fit": 35
+    },
+    "observed_fraction": 0.998,
+    "observed_fraction_of_valid": 0.9995,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.47,
+     "smplx": 2.14
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.5,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 9.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:31:22.226290+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_006",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260903/P23/20260903_101346_session57"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_006/motions/hands_mano.npz
new file mode 100644
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diff --git a/actions/locomotion_primitives/P23/session_006/motions/smplx.npz b/actions/locomotion_primitives/P23/session_006/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_006/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_006/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P23/session_007/annotations.json b/actions/locomotion_primitives/P23/session_007/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..edded46645affa4d59feede5c1e76211e1fb6dd6
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_007/annotations.json
@@ -0,0 +1,50 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
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+   "id": "segment1",
+   "duration_s": 123.966644,
+   "video": "left_eye",
+   "video_t_start": 0.03966409451945352
+  }
+ ],
+ "episodes": [
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+   "action": "P23",
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+   "end_s": 37.171,
+   "t_start": 0.5647,
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
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+   "end_s": 75.499,
+   "t_start": 40.0887,
+   "t_end": 75.5387,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7db555b10d5e0a7352914606eb3e0e686d9247
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 18.29,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
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+  "median_px": 0.374
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "gate_fail": [],
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+   "held_out_px_before": 6.662,
+   "inliers": 2578,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0107,
+    0.724,
+    0.2717
+   ],
+   "split_deg": 0.1149,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "inliers": 3108,
+   "position_fitted": true,
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+    6.39,
+    11.72
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+    0.0014,
+    0.7038,
+    -0.7957
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+   "split_deg": 0.0523,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    -0.1095,
+    0.0679
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.6954,
+   "gate_fail": [],
+   "held_out_px_after": 0.396,
+   "held_out_px_before": 2.299,
+   "inliers": 3696,
+   "position_fitted": true,
+   "position_mm": [
+    -9.21,
+    8.58,
+    11.76
+   ],
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+   "position_split_mm": 4.968,
+   "rotvec_deg": [
+    0.1475,
+    0.2715,
+    -0.623
+   ],
+   "split_deg": 0.0666,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 9.31,
+   "inliers": 4942,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3427,
+    0.4696,
+    -1.9012
+   ],
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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": "799b7a469d9d0423fac8ee84a35b37734af71dc33deb16b6024abd741f837577",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "670eaabcff72a4fe2989408fe47f56ce7fb8ecfe61ca6cd16a8743dae85fc3f4",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "7d685678db1506bf",
+ "kind": "online_calibration",
+ "output_sha256": "6dcc0ab36af98416b76990925b0a10e7327e3afaee9e31c78928aee49ba4158b",
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+  "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": 29.399,
+  "left_front": 34.463,
+  "right": 38.921,
+  "right_eye": 30.909,
+  "right_front": 35.473
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+ "selection": {
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_007/cameras/slam.npz b/actions/locomotion_primitives/P23/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5a3738c1c4cf18ab3e3e57c2e57f42cc1ee62aaa
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3abecc601c02a70efca7c29eaca7817377f1362def91f6fe5dcb8acfe1ddaec
+size 712687
diff --git a/actions/locomotion_primitives/P23/session_007/meta.json b/actions/locomotion_primitives/P23/session_007/meta.json
index d7632abb5d2b31af5ade478011ace7d90b8cd80a..1451962ae3094e2a34d0699928c15466d40b056b 100644
--- a/actions/locomotion_primitives/P23/session_007/meta.json
+++ b/actions/locomotion_primitives/P23/session_007/meta.json
@@ -347,8 +347,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -528,10 +528,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.57,
+    "offset_rotvec": [
+     -0.1886,
+     -0.191,
+     -0.042
+    ],
+    "dev_deg": {
+     "median": 10.88,
+     "p90": 28.81
+    },
+    "samples": 2434,
+    "accepted": 2216,
+    "wrist_pos_err_mm_median": 47.1,
+    "per_camera": {
+     "head": {
+      "samples": 2434,
+      "accepted": 2216,
+      "gate_deg": 30.0,
+      "offset_deg": 15.57,
+      "tier": "primary",
+      "dev_deg_median": 10.88,
+      "wrist_pos_err_mm_median": 47.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9309,
+     "interpolated": 5525,
+     "mean_hand": 12,
+     "no_body_fit": 38
+    },
+    "observed_fraction": 0.9966,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.5,
+     "smplx": 2.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 11.0
+     },
+     "registered": {
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+     }
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+     -0.0868,
+     0.1505
+    ],
+    "dev_deg": {
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+     "p90": 32.88
+    },
+    "samples": 2484,
+    "accepted": 2191,
+    "wrist_pos_err_mm_median": 49.5,
+    "per_camera": {
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+      "accepted": 2191,
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+      "offset_deg": 10.27,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 49.5
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+    "frames_by_state": {
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+     "interpolated": 5601,
+     "mean_hand": 12,
+     "no_body_fit": 38
+    },
+    "observed_fraction": 0.9966,
+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.99,
+     "smplx": 2.55
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.2,
+      "p90": 7.3
+     },
+     "registered": {
+      "median": 5.0,
+      "p90": 7.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:31:14.719561+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_007",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260903/P23/20260903_101721_session58"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..13c620b6b8452edbec1373f999e523008a2b5fc7
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9c268b4a5ba5138a1465399414e8b7889d89e6c873cda4988374d18823f2da6
+size 3450460
diff --git a/actions/locomotion_primitives/P23/session_007/motions/smplx.npz b/actions/locomotion_primitives/P23/session_007/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 5739319
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diff --git a/actions/locomotion_primitives/P23/session_008/annotations.json b/actions/locomotion_primitives/P23/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cd92a57e820ae2e03a4c5bc568e72e3f381d27a
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_008/annotations.json
@@ -0,0 +1,61 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
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+   "duration_s": 128.966611,
+   "video": "left_eye",
+   "video_t_start": 0.03909740908973025
+  }
+ ],
+ "episodes": [
+  {
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+   "action": "P23",
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+   "end_s": 36.705,
+   "t_start": 0.0391,
+   "t_end": 36.7441,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
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+   "t_start": 38.8361,
+   "t_end": 69.1321,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "b6040e77-3242-4246-bc1f-ea5749a73d6f",
+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
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+   "end_s": 99.819,
+   "t_start": 70.4111,
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "02326b23-b586-4ef1-9c7c-ee4485ac9056",
+   "segment": "segment1",
+   "action": "P23",
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+   "t_end": 125.1831,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cabbc7947ad9e568b5fe8baa2cfc5f32df1f380
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.42
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 3.753,
+   "inliers": 2312,
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+    -0.2477,
+    -0.0142
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+    0.5611,
+    -1.3608
+   ],
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+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    1.1839,
+    -0.3134,
+    0.6172
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+    "right"
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+    -21.35,
+    3.56
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+    0.2696,
+    -0.5073,
+    -0.0443
+   ],
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+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.1502,
+    -0.1559,
+    -1.0504
+   ],
+   "split_deg": 0.0088,
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+  }
+ },
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "c7fc5673f7d167d1d8acd0da0b47736bcbba5fe373c9970093c690359984fa09",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "84b3d068c5509385",
+ "kind": "online_calibration",
+ "output_sha256": "cc1a3bede59102e8e8000eeb456ceac9b9262a3751e4f6f2fa79e6785ac5f16a",
+ "overlap": {
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+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 40.695,
+  "left_eye": 35.585,
+  "left_front": 38.657,
+  "right": 41.102,
+  "right_eye": 32.972,
+  "right_front": 35.414
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   10640628239666,
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+   10646628284111,
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+   10759628439666,
+   10761628417444,
+   10762628273000
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_008/cameras/slam.npz b/actions/locomotion_primitives/P23/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..05952ee78837b11069e43b51e3f1b7bd87762de3
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6566867b6e7b539d0cb0e096960aca28a3553860a3c16f80bd5e3b3d48e1f17
+size 746320
diff --git a/actions/locomotion_primitives/P23/session_008/meta.json b/actions/locomotion_primitives/P23/session_008/meta.json
index 4542a220d7811eaa5e50db80c7cc1288935805f2..153c085d203290554dcbade78389896b5debb92c 100644
--- a/actions/locomotion_primitives/P23/session_008/meta.json
+++ b/actions/locomotion_primitives/P23/session_008/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.585097333820065
  },
+ "hands_registration": {
+  "cameras": {},
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+     -0.2858,
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+    "dev_deg": {
+     "median": 15.37,
+     "p90": 29.72
+    },
+    "samples": 2619,
+    "accepted": 2364,
+    "wrist_pos_err_mm_median": 67.9,
+    "per_camera": {
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+      "accepted": 2364,
+      "gate_deg": 30.0,
+      "offset_deg": 17.19,
+      "tier": "primary",
+      "dev_deg_median": 15.37,
+      "wrist_pos_err_mm_median": 67.9
+     }
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+     "interpolated": 5676,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.76,
+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
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+     }
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+    "accepted": 1963,
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+    "per_camera": {
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+      "accepted": 1963,
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+      "tier": "primary",
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+    "observed_fraction_of_valid": 0.9441,
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+      "p90": 7.3
+     },
+     "registered": {
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+      "p90": 7.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:30:00.739344+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_008",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260907/P23/20260907_094558_session189"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..65c7a14aab2ecdc4c11f90f30d6728b18a891eca
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c61c918c2e2884e22cea7307870ec26cc7023df26875fe7cb3ac92c1f4aad8ba
+size 3504079
diff --git a/actions/locomotion_primitives/P23/session_008/motions/smplx.npz b/actions/locomotion_primitives/P23/session_008/motions/smplx.npz
index 3f563ef263e6d347e984a102ebe9ccdde28082a1..4c87a0b1f2b21c7e3ad6d3c6cf6ffdc1b5c923b1 100644
--- a/actions/locomotion_primitives/P23/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5975465
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+size 11080138
diff --git a/actions/locomotion_primitives/P23/session_009/annotations.json b/actions/locomotion_primitives/P23/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fb7b7a17b63f2f9d59344e54307039bcc6a2922
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_009/annotations.json
@@ -0,0 +1,50 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
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+   "duration_s": 108.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03884523262694706
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P23",
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+   "end_s": 39.797,
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
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+   "end_s": 73.871,
+   "t_start": 42.2648,
+   "t_end": 73.9098,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "7d14e321-7903-442b-84e1-12ac1bf56188",
+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
+   "start_s": 75.921,
+   "end_s": 103.369,
+   "t_start": 75.9598,
+   "t_end": 103.4078,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1447135d3ef59e60a36c2ee0f3b6e0fcbbc275
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.385
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "delta_deg": 0.4825,
+   "gate_fail": [],
+   "held_out_px_after": 0.559,
+   "held_out_px_before": 4.683,
+   "inliers": 2210,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4405,
+    -0.1811,
+    -0.0771
+   ],
+   "split_deg": 0.0941,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
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+    "right_eye",
+    "left",
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+   "held_out_px_before": 5.516,
+   "inliers": 3547,
+   "position_fitted": true,
+   "position_mm": [
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+    -17.46,
+    6.89
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+   "position_split_mm": 1.889,
+   "rotvec_deg": [
+    0.1778,
+    0.5288,
+    -1.3153
+   ],
+   "split_deg": 0.099,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+    -0.3327,
+    0.666
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+  },
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+    "left",
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+   "gate_fail": [],
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+   "inliers": 3165,
+   "position_fitted": true,
+   "position_mm": [
+    0.79,
+    -17.27,
+    7.8
+   ],
+   "position_sigma_mm": 0.26,
+   "position_split_mm": 1.869,
+   "rotvec_deg": [
+    0.3958,
+    -0.556,
+    -0.0425
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0853,
+   "gate_fail": [],
+   "held_out_px_after": 0.338,
+   "held_out_px_before": 3.986,
+   "inliers": 5069,
+   "position_fitted": false,
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diff --git a/actions/locomotion_primitives/P23/session_009/cameras/slam.npz b/actions/locomotion_primitives/P23/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..54f090afb9a50e41405fb59039b2599fd8e3ad66
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P23/session_009/meta.json b/actions/locomotion_primitives/P23/session_009/meta.json
index 98be87920fb7f192e458d4e97897440a3965afeb..d9a55655a9e4611d1831c17f8e1527e66c3b711c 100644
--- a/actions/locomotion_primitives/P23/session_009/meta.json
+++ b/actions/locomotion_primitives/P23/session_009/meta.json
@@ -328,8 +328,8 @@
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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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5272968445610413
  },
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+      "tier": "primary",
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   "source_session": "20260907/P23/20260907_094831_session190"
+ },
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  }
 }
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new file mode 100644
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..b26865edcc7cf6bbea312c8f695429833d2a7ffb
--- /dev/null
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@@ -0,0 +1,50 @@
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+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_010/cameras/gsi_online_calibration.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,255 @@
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diff --git a/actions/locomotion_primitives/P23/session_010/cameras/slam.npz b/actions/locomotion_primitives/P23/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..928ffb2a9b06a68afa9b537f1952b20159d10e57
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P23/session_010/meta.json b/actions/locomotion_primitives/P23/session_010/meta.json
index 7677e61abe486324ee8097478197e2acfe58de12..9e6227d228e96c4cd532da6a938c2f1183a01ce5 100644
--- a/actions/locomotion_primitives/P23/session_010/meta.json
+++ b/actions/locomotion_primitives/P23/session_010/meta.json
@@ -328,8 +328,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "family": "locomotion_primitives",
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   "source_session": "20260907/P23/20260907_095038_session191"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P23/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_010/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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--- a/actions/locomotion_primitives/P23/session_010/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/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_primitives/P23/session_011/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_011/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_011/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3292a5542c14c5e090304cb794dac1993ea2730
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_011/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+  "groups_used": 15,
+  "median_px": 0.356
+ },
+ "cameras": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye",
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+   "usable": true
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+    "right_front",
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+    "left",
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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diff --git a/actions/locomotion_primitives/P23/session_011/cameras/slam.npz b/actions/locomotion_primitives/P23/session_011/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P23/session_011/meta.json b/actions/locomotion_primitives/P23/session_011/meta.json
index 50ad12ba00f161d7d2d7f26cb8438448ab2ec131..b19e6f94695e3a1bc9f3d07d86eb49dd02436eb9 100644
--- a/actions/locomotion_primitives/P23/session_011/meta.json
+++ b/actions/locomotion_primitives/P23/session_011/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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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1161182692315026
  },
+ "hands_registration": {
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+    "accepted": 2812,
+    "wrist_pos_err_mm_median": 53.4,
+    "per_camera": {
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+      "accepted": 2812,
+      "gate_deg": 30.0,
+      "offset_deg": 13.63,
+      "tier": "primary",
+      "dev_deg_median": 8.9,
+      "wrist_pos_err_mm_median": 53.4
+     }
+    },
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+     "interpolated": 3972,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9992,
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+   "head"
+  ],
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260909/P23/20260909_080159_session130"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_011/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_primitives/P23/session_011/motions/smplx.npz b/actions/locomotion_primitives/P23/session_011/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..3c26e678cd8b71d600fffc194ee7fd37fb291af7
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_012/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
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+  }
+ ],
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d17c3ffcbb5f1a461db61f7e0dd99b00618d02
--- /dev/null
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@@ -0,0 +1,254 @@
+{
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+  "groups_used": 15,
+  "median_px": 0.363
+ },
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+   "usable": true
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+    "right_eye",
+    "left",
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+   "usable": true
+  },
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    2.49
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+    0.5911,
+    -0.4258,
+    -0.2456
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
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+    -0.0342,
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+   ],
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "accaa4f58cc07a2d707b5edf774fb3a35e67f71b600b4b3cf473faf399d81a08",
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+  },
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+  },
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+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "15e16166a5486727",
+ "kind": "online_calibration",
+ "output_sha256": "b1a17ead87fc95de9869c00c5fe79620ac02d9098838f07c1445cd2bc362497a",
+ "overlap": {
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+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 45.072,
+  "left_front": 34.497,
+  "right": 41.311,
+  "right_eye": 41.826,
+  "right_front": 30.45
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+ "runtime": {
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+  "opencv": "5.0.0",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_012/cameras/slam.npz b/actions/locomotion_primitives/P23/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..38b1e1276efb517240109941500a890aada53296
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 572456
diff --git a/actions/locomotion_primitives/P23/session_012/meta.json b/actions/locomotion_primitives/P23/session_012/meta.json
index 6596969ab25519215e5b7351e11c6921897d9c88..735864edc4795a97aaec889f0ec56af0d8eed1c5 100644
--- a/actions/locomotion_primitives/P23/session_012/meta.json
+++ b/actions/locomotion_primitives/P23/session_012/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": {
@@ -526,10 +526,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1984764565981745
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     -0.1318,
+     0.1574
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+     "p90": 20.72
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+    "accepted": 1968,
+    "wrist_pos_err_mm_median": 60.4,
+    "per_camera": {
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+      "accepted": 1968,
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+      "offset_deg": 12.15,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 60.4
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+     "mean_hand": 20,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9983,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
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+     "p90": 20.44
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+    "accepted": 2710,
+    "wrist_pos_err_mm_median": 44.0,
+    "per_camera": {
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+      "accepted": 2710,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 44.0
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+    },
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+     "interpolated": 652,
+     "mean_hand": 336,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9717,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.42
+    },
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+      "p90": 9.9
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 9.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T15:45:08.721281+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_012",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260909/P23/20260909_080426_session131"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..08f92469068977e79c991ddb5092df95a1418a1c
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3334673
diff --git a/actions/locomotion_primitives/P23/session_012/motions/smplx.npz b/actions/locomotion_primitives/P23/session_012/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_012/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P23/session_013/annotations.json b/actions/locomotion_primitives/P23/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fddaeccf36912b4f009aad9b867435109c7dbf0
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_013/annotations.json
@@ -0,0 +1,50 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..77919d47ea570a05f0e18a3702fd5c6581c6052c
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
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+  "groups_used": 15,
+  "median_px": 0.356
+ },
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+   "usable": true
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+    "right_eye",
+    "left",
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+    2.02
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+    0.6744,
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
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+    "left_front",
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+    "left_eye",
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+    "right"
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+    0.6035,
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+    -0.2309
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+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -1.0204
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+  },
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+  }
+ },
+ "input_fingerprint": "7c46ac62a9134c32",
+ "kind": "online_calibration",
+ "output_sha256": "f716133089171b19b47a546a7838d63c3c03ac3db488bd5db52b4879ae2515bf",
+ "overlap": {
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+  "left_front-right_front": 1.0,
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+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 38.969,
+  "left_front": 31.999,
+  "right": 36.961,
+  "right_eye": 37.484,
+  "right_front": 29.699
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+ "runtime": {
+  "numpy": "2.4.6",
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_013/cameras/slam.npz b/actions/locomotion_primitives/P23/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b0a7f0bab7ebbabe9141f505d01334c6e902a5a3
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 572353
diff --git a/actions/locomotion_primitives/P23/session_013/meta.json b/actions/locomotion_primitives/P23/session_013/meta.json
index bba752a9274e21c5c4e4e64970bbee23516f93c9..9aed3802efe3bea36a200f573f5b649723a38e43 100644
--- a/actions/locomotion_primitives/P23/session_013/meta.json
+++ b/actions/locomotion_primitives/P23/session_013/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": {
@@ -527,10 +527,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2806645708888185
  },
+ "hands_registration": {
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+     -0.1475,
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+    ],
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+     "p90": 20.98
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+    "accepted": 1927,
+    "wrist_pos_err_mm_median": 53.0,
+    "per_camera": {
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+      "tier": "primary",
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+     "interpolated": 3712,
+     "mean_hand": 276,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9768,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.66
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+    "hand_marker_to_mesh_mm": {
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
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+  "generated_at_utc": "2026-11-03T15:45:25.924935+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_013",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260909/P23/20260909_080624_session132"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4bb45eb400c3bf38571d47391605d258a1dc26f2
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68aba72ed1770d75b7accb6a5ac3b6891a97ff1c2751c9abdbda04365eb36ff1
+size 3331159
diff --git a/actions/locomotion_primitives/P23/session_013/motions/smplx.npz b/actions/locomotion_primitives/P23/session_013/motions/smplx.npz
index dbba3ab694a833504fdf66b4fc3323adeec11506..2bbdb6db0781d0fa16f53341fed2e2d107d2c618 100644
--- a/actions/locomotion_primitives/P23/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4593872
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diff --git a/actions/locomotion_primitives/P23/session_014/annotations.json b/actions/locomotion_primitives/P23/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d22d65c3c865fbdac314d3e808cb144a2394d68
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_014/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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.03880553879190951
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7f42b46a-e9ab-411a-bcdb-e13c48c3efbe",
+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
+   "start_s": 0,
+   "end_s": 126.263,
+   "t_start": 0.0388,
+   "t_end": 126.3018,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad386dfbfdd53602a26fccc95f1335bf45b2129
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_014/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.371
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.7476,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3193,
+    -0.2782,
+    -0.6161
+   ],
+   "split_deg": 0.0687,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": true,
+   "position_mm": [
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+    -8.76,
+    6.52
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+   "rotvec_deg": [
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+    0.5442,
+    -1.7242
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+   "usable": true
+  },
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+   "against": [
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+    "left_eye",
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diff --git a/actions/locomotion_primitives/P23/session_014/cameras/slam.npz b/actions/locomotion_primitives/P23/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc9bcdccac41d0ae691f2186fc0a0a5f222e239b
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P23/session_014/meta.json b/actions/locomotion_primitives/P23/session_014/meta.json
index d0e49e054e37bfc0b06b9df00db61f6d46b8910b..cbb5cae739a689ae3b444712dca1c248ff01fde9 100644
--- a/actions/locomotion_primitives/P23/session_014/meta.json
+++ b/actions/locomotion_primitives/P23/session_014/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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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": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9940041476145594
  },
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  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260914/P23/20260914_113552_session23"
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+ "task": {
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+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76462cb93dd026dbd670df077d4a2cecdba78238
--- /dev/null
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--- a/actions/locomotion_primitives/P23/session_014/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,28 @@
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+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
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+   "video": "left_eye",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a08ae209026a4caecb759cf392a64e95e792e2
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..aa4765820a93f9faa4ff97c78ac9783862c2d685
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P23/session_015/meta.json b/actions/locomotion_primitives/P23/session_015/meta.json
index f3b255cb1f77beaf9d52efb598a0c04b552a275e..6d17f1d8e3de9f48e6fcef29848e3e04c97d097d 100644
--- a/actions/locomotion_primitives/P23/session_015/meta.json
+++ b/actions/locomotion_primitives/P23/session_015/meta.json
@@ -326,8 +326,8 @@
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   "hands": {
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@@ -521,10 +521,124 @@
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  }
 }
diff --git a/actions/locomotion_primitives/P23/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_015/motions/hands_mano.npz
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..2846318615b95e7312b55946ddb51798bd267c5f
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_016/annotations.json
@@ -0,0 +1,28 @@
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+ ],
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+}
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
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diff --git a/actions/locomotion_primitives/P23/session_016/cameras/slam.npz b/actions/locomotion_primitives/P23/session_016/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 0d8732c977cf3f8111fcb81cdd11761c2abc71fc..3370082570459213d2b53f01b7294494cc1556cd 100644
--- a/actions/locomotion_primitives/P23/session_016/meta.json
+++ b/actions/locomotion_primitives/P23/session_016/meta.json
@@ -326,8 +326,8 @@
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@@ -517,10 +517,124 @@
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+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260914/P23/20260914_114129_session25"
+ },
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+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_016/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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@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..38a8a5d1130c22323535ba0b9bc299b643121ca4
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_017/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P23",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_017/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_017/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f642e243dc490743976b6f7c3f2e57162d66c42e
--- /dev/null
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@@ -0,0 +1,257 @@
+{
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+  "median_px": 0.402
+ },
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+  },
+  "right_front": {
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+    "right_eye",
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_017/cameras/slam.npz b/actions/locomotion_primitives/P23/session_017/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..655ca5174c1429fb07f22ff379fdd4ab69006d07
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_017/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 774858
diff --git a/actions/locomotion_primitives/P23/session_017/meta.json b/actions/locomotion_primitives/P23/session_017/meta.json
index c5c59dae8a105488d88d33442d9a1240ae8a9b54..bbdf4ddc6b0a9269ba0871f6c2f33c6f74f16cff 100644
--- a/actions/locomotion_primitives/P23/session_017/meta.json
+++ b/actions/locomotion_primitives/P23/session_017/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,
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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": {
@@ -516,10 +516,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1865810919500426
  },
+ "hands_registration": {
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+    "per_camera": {
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+      "tier": "primary",
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_017",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260919/P23/20260919_031658_session44"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_017/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_017/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_017/motions/hands_mano.npz
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diff --git a/actions/locomotion_primitives/P23/session_017/motions/smplx.npz b/actions/locomotion_primitives/P23/session_017/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_017/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..a6624ca111308dde7d560978208602fca784cef8
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_018/annotations.json
@@ -0,0 +1,50 @@
+{
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+ "primitive": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_018/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f06bd6fc9ec580789230272e1373553dc03de3
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_018/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.364
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.616,
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    0.1482
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+    "left_front",
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+    "left_eye",
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+    0.3017,
+    -0.507,
+    -0.4764
+   ],
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+   "usable": true
+  },
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+   "accepted": true,
+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -1.3057
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+  },
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+  },
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+   "sha256": "ced6a6ac04b46bdc922a5019472b0eb8bb14f496886449fe7f36a502c4c56c41",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "ea06dc51380d9923",
+ "kind": "online_calibration",
+ "output_sha256": "105ab58676eac56ac1d84e4ef27b4642e94813a5559e0dfdacd39baf2dd665ce",
+ "overlap": {
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+  "left_front-left": 0.478,
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+  "left_front-right": 0.448,
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 29.057,
+  "left_front": 37.674,
+  "right": 35.213,
+  "right_eye": 27.085,
+  "right_front": 35.541
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+   10077698053333,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_018/cameras/slam.npz b/actions/locomotion_primitives/P23/session_018/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ebc82b684e36ae159ede9f0cc623f884e8d46a9
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_018/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21d4be39a8850332237ed66fd8b9c245a63eb5e01ff017782dec1b9af25b1401
+size 630592
diff --git a/actions/locomotion_primitives/P23/session_018/meta.json b/actions/locomotion_primitives/P23/session_018/meta.json
index a10bd6d1aeab18c5b3895e79b0894d4c45cac299..f7d1584854b629d6371574ae113a52e2dd112156 100644
--- a/actions/locomotion_primitives/P23/session_018/meta.json
+++ b/actions/locomotion_primitives/P23/session_018/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": {
@@ -517,10 +517,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1660784457688829
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
+     0.1128,
+     0.0051,
+     0.0041
+    ],
+    "dev_deg": {
+     "median": 15.36,
+     "p90": 39.01
+    },
+    "samples": 2211,
+    "accepted": 1848,
+    "wrist_pos_err_mm_median": 67.5,
+    "per_camera": {
+     "head": {
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+      "accepted": 1848,
+      "gate_deg": 30.0,
+      "offset_deg": 6.48,
+      "tier": "primary",
+      "dev_deg_median": 15.36,
+      "wrist_pos_err_mm_median": 67.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 5424,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.999,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.63,
+     "smplx": 0.62
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 20.6
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+     }
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+    "dev_deg": {
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+     "p90": 27.23
+    },
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+    "accepted": 1909,
+    "wrist_pos_err_mm_median": 76.0,
+    "per_camera": {
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+      "accepted": 1909,
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+      "tier": "primary",
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+     "interpolated": 5106,
+     "mean_hand": 5,
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+    "observed_fraction_of_valid": 0.9996,
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+     "smplx": 0.46
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 18.7
+     },
+     "registered": {
+      "median": 14.6,
+      "p90": 17.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:40.067307+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_018",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260919/P23/20260919_031930_session45"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_018/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e7ad27e1ae85842b42f5f935c3d02009d144b300
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_018/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9ad65ed23c65cebe57839890843ceee61a38ea2327794a879a8c921bd3896ab
+size 2966352
diff --git a/actions/locomotion_primitives/P23/session_018/motions/smplx.npz b/actions/locomotion_primitives/P23/session_018/motions/smplx.npz
index 16dd5d3dc56f084f571d2e2dff965e7b791c2f66..e41f0e99f0a050de8419ceb0c887fb7ce3d5c442 100644
--- a/actions/locomotion_primitives/P23/session_018/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_018/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a5f368ec2a9fea7531b8914e85394cc4b8c4a77ea51e2afc3cacf08937072c97
-size 5039371
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+size 9432760
diff --git a/actions/locomotion_primitives/P23/session_019/annotations.json b/actions/locomotion_primitives/P23/session_019/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..c553f076dc513322d745857d09f3e3a0a40ee50b
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_019/annotations.json
@@ -0,0 +1,50 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 103.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038943426889690436
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
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+   "end_s": 35.207,
+   "t_start": 2.1819,
+   "t_end": 35.2459,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
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+   "end_s": 61.305,
+   "t_start": 35.2459,
+   "t_end": 61.3439,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "4fc16acb-42dc-4890-a01d-61c925cddd93",
+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
+   "start_s": 61.305,
+   "end_s": 98.969,
+   "t_start": 61.3439,
+   "t_end": 99.0079,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_019/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_019/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e750465d6ace646f70b58c3ba9707d82265741
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_019/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.407
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2082,
+   "gate_fail": [],
+   "held_out_px_after": 0.559,
+   "held_out_px_before": 4.318,
+   "inliers": 2271,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.5448,
+    -0.3959,
+    -1.0032
+   ],
+   "split_deg": 0.0579,
+   "usable": true
+  },
+  "left_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 5.991,
+   "inliers": 3343,
+   "position_fitted": true,
+   "position_mm": [
+    2.75,
+    -10.37,
+    4.18
+   ],
+   "position_sigma_mm": 0.361,
+   "position_split_mm": 2.362,
+   "rotvec_deg": [
+    0.1949,
+    0.6157,
+    -1.8624
+   ],
+   "split_deg": 0.0345,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 3.906,
+   "inliers": 1166,
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+    -1.3173
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+ "factory_root_name": "e17c9efadb69e7b1",
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+  "right_front-left_eye": 0.723,
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+  "left_front": 37.778,
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+  "right_eye": 30.068,
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_019/cameras/slam.npz b/actions/locomotion_primitives/P23/session_019/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c52cba656e6594b589271f322bef0aee9c9db9c
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_019/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 602355
diff --git a/actions/locomotion_primitives/P23/session_019/meta.json b/actions/locomotion_primitives/P23/session_019/meta.json
index fe316d1239ac6580cc593ebea9fdf0d14911a99b..6216f7f935bbe298882cf4c556ef8d2a61411d71 100644
--- a/actions/locomotion_primitives/P23/session_019/meta.json
+++ b/actions/locomotion_primitives/P23/session_019/meta.json
@@ -329,8 +329,8 @@
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   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+     "mean_hand": 1048,
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T22:55:39.106588+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260919/P23/20260919_032130_session46"
+ },
+ "task": {
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  }
 }
diff --git a/actions/locomotion_primitives/P23/session_019/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_019/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b3d8d067faa79bdd75f63f14212994ab439d653e
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_019/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70841b0e99b13c85856b3bb3a42761b20d25c468f4aca0f2d8a2b8cd664efb3d
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diff --git a/actions/locomotion_primitives/P23/session_019/motions/smplx.npz b/actions/locomotion_primitives/P23/session_019/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_019/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_019/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P23/session_020/annotations.json b/actions/locomotion_primitives/P23/session_020/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..36c8738fbdfedab7e1b6e9273d4caabc2bd48443
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_020/annotations.json
@@ -0,0 +1,50 @@
+{
+ "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": "P23",
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+ ],
+ "episodes": [
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
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+  {
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_020/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_020/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff413e515e6bb10c0eaa380b653b1116b397de77
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_020/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.375
+ },
+ "cameras": {
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+   "against": [
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+    "right_front",
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+    "right_eye"
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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index b3c42c862f4456f918a9cd11ade829523f9aebf3..0e236b45e8d3b140ee94f96f54c1f2c0034a15a8 100644
--- a/actions/locomotion_primitives/P23/session_020/meta.json
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@@ -328,8 +328,8 @@
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@@ -509,10 +509,124 @@
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 }
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new file mode 100644
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@@ -0,0 +1,50 @@
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new file mode 100644
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P23/session_021/cameras/slam.npz b/actions/locomotion_primitives/P23/session_021/cameras/slam.npz
new file mode 100644
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@@ -519,10 +519,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+    },
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+      "tier": "primary",
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+    },
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+      "p90": 25.3
+     },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:33.459495+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_021",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260919/P23/20260919_095054_session164"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_021/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_021/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d7f58d3634deec28288892aeca4341c9e564bfeb
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_021/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1909215
diff --git a/actions/locomotion_primitives/P23/session_021/motions/smplx.npz b/actions/locomotion_primitives/P23/session_021/motions/smplx.npz
index 572923b694313c30d813ef83a26eb88a41e8767f..adb5b39cdbbd6f81faed3645c480abc0d41d2e8a 100644
--- a/actions/locomotion_primitives/P23/session_021/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_021/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 4578885
+oid sha256:7d151f0327790a21541490866c2522954047dfcfeed3f40744311f09a9aaa3dc
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diff --git a/actions/locomotion_primitives/P23/session_022/annotations.json b/actions/locomotion_primitives/P23/session_022/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d6f1b5f35d48ee8791b39820ffbd72591e77731
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_022/annotations.json
@@ -0,0 +1,50 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 68.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03862221379118802
+  }
+ ],
+ "episodes": [
+  {
+   "id": "499c9e78-3527-4eba-98b8-e218c282b105",
+   "segment": "segment1",
+   "action": "P23",
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+   "end_s": 20.048,
+   "t_start": 1.0866,
+   "t_end": 20.0866,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 41.048,
+   "t_start": 20.0866,
+   "t_end": 41.0866,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_022/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_022/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41afa6fe5b75ded64d53705ec5d226802f1c64f
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_022/cameras/gsi_online_calibration.json
@@ -0,0 +1,253 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.398
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
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+    "left_eye",
+    "right_eye"
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+    -0.9054
+   ],
+   "split_deg": 0.025,
+   "usable": true
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "position_fitted": true,
+   "position_mm": [
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+    -16.13,
+    4.94
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+   "position_split_mm": 2.405,
+   "rotvec_deg": [
+    0.0274,
+    0.5848,
+    -1.8349
+   ],
+   "split_deg": 0.08,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "position_fitted": false,
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+    -0.7179,
+    0.1478
+   ],
+   "split_deg": 0.1399,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "inliers": 2585,
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+   "position_mm": [
+    8.01,
+    -15.63,
+    5.83
+   ],
+   "position_sigma_mm": 0.262,
+   "position_split_mm": 1.054,
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+    0.1877,
+    -0.5395,
+    -0.405
+   ],
+   "split_deg": 0.0823,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3574,
+   "gate_fail": [],
+   "held_out_px_after": 0.349,
+   "held_out_px_before": 4.548,
+   "inliers": 3866,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4811,
+    -0.0376,
+    -1.2687
+   ],
+   "split_deg": 0.0336,
+   "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": "dbfaa295a041b900685a254a842bca83dacfb03e53bd9a69d0bf11b503b2da55",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "f4a199d9f0af2438b0643511ec93cf09655c1ab14e1195b71545fca63f689f9e",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8e815f5b43170f7ed259fa49565a1da51fdd71d42e52bfd9abaf184d052325dc",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "72035a5be4ab9fc6c35dd74c85464fcd79b06816637b9ff4f4ab349d0acaca92",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "d2146c7e6b8c48ea",
+ "kind": "online_calibration",
+ "output_sha256": "510fa48f4b599c086e72960e1de966725b3c0e7a3ffe4101f1a8c8d059ba797c",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.671,
+  "left_front-left": 0.478,
+  "left_front-left_eye": 0.72,
+  "left_front-right": 0.448,
+  "left_front-right_eye": 0.732,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.673,
+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
+  "left": 38.013,
+  "left_eye": 33.247,
+  "left_front": 39.928,
+  "right": 36.99,
+  "right_eye": 33.168,
+  "right_front": 36.868
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_022/cameras/slam.npz b/actions/locomotion_primitives/P23/session_022/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e456ec7cf3661eb85a339072ad698568c9fd89db
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_022/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a1ad995f26e480ee54d1a592724f7bf8a7c66ec0d420439954bfbf262927e2
+size 399773
diff --git a/actions/locomotion_primitives/P23/session_022/meta.json b/actions/locomotion_primitives/P23/session_022/meta.json
index 74bd091211a02e10f1374cf811f12da3ba5b8ff0..ce2663f608cac8afd3567044433ae956275b45b7 100644
--- a/actions/locomotion_primitives/P23/session_022/meta.json
+++ b/actions/locomotion_primitives/P23/session_022/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": {
@@ -534,10 +534,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2039161717741935
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 28.84,
+    "offset_rotvec": [
+     0.3929,
+     -0.2302,
+     -0.2145
+    ],
+    "dev_deg": {
+     "median": 11.74,
+     "p90": 36.49
+    },
+    "samples": 955,
+    "accepted": 803,
+    "wrist_pos_err_mm_median": 84.3,
+    "per_camera": {
+     "head": {
+      "samples": 955,
+      "accepted": 803,
+      "gate_deg": 30.0,
+      "offset_deg": 28.84,
+      "tier": "primary",
+      "dev_deg_median": 11.74,
+      "wrist_pos_err_mm_median": 84.3
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 3724,
+     "mean_hand": 1196,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.8555,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.68,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.9,
+      "p90": 14.9
+     },
+     "registered": {
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+      "p90": 14.3
+     }
+    }
+   },
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+    "offset_rotvec": [
+     0.1862,
+     -0.2,
+     0.3451
+    ],
+    "dev_deg": {
+     "median": 11.25,
+     "p90": 33.55
+    },
+    "samples": 1113,
+    "accepted": 972,
+    "wrist_pos_err_mm_median": 67.5,
+    "per_camera": {
+     "head": {
+      "samples": 1113,
+      "accepted": 972,
+      "gate_deg": 30.0,
+      "offset_deg": 25.22,
+      "tier": "primary",
+      "dev_deg_median": 11.25,
+      "wrist_pos_err_mm_median": 67.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 4016,
+     "interpolated": 3596,
+     "mean_hand": 664,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9189,
+    "observed_fraction_of_valid": 0.9198,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.04,
+     "smplx": 0.81
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 16.4,
+      "p90": 25.9
+     },
+     "registered": {
+      "median": 16.1,
+      "p90": 25.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:55:32.765255+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_022",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260919/P23/20260919_120512_session211"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_022/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_022/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f61e1a8db5742e1c62bae4da6f26883cf4030898
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_022/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31925be49b9cf9097659407ebb7b343d43471182a98e930ef593b90f077a44ae
+size 1468447
diff --git a/actions/locomotion_primitives/P23/session_022/motions/smplx.npz b/actions/locomotion_primitives/P23/session_022/motions/smplx.npz
index a084267e3a12e01a90bc57d34030c5941fd75abd..40055d5cdf9c3965989373f47b43bb7f58e81687 100644
--- a/actions/locomotion_primitives/P23/session_022/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_022/motions/smplx.npz
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+{
+ "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": "P23",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_023/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_023/cameras/gsi_online_calibration.json
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index 0000000000000000000000000000000000000000..a56c9eb7a75d7efac9c38ec2fc2b254f9d3847b3
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+  "median_px": 0.429
+ },
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+    "right_front",
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+    "right_eye",
+    "left",
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+    "right_front",
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+    "right_eye",
+    "left",
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+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+  }
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+ "kind": "online_calibration",
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
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+ "runtime": {
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diff --git a/actions/locomotion_primitives/P23/session_023/cameras/slam.npz b/actions/locomotion_primitives/P23/session_023/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_023/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P23/session_023/meta.json b/actions/locomotion_primitives/P23/session_023/meta.json
index 9f6a0d63f181031bc39c96fdc645df728d959832..721c77fffb54d5f785880fc1900df849fdbd3068 100644
--- a/actions/locomotion_primitives/P23/session_023/meta.json
+++ b/actions/locomotion_primitives/P23/session_023/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.643713936804913
  },
+ "hands_registration": {
+  "cameras": {},
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+    "samples": 3021,
+    "accepted": 2671,
+    "wrist_pos_err_mm_median": 38.1,
+    "per_camera": {
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+      "accepted": 2671,
+      "gate_deg": 30.0,
+      "offset_deg": 28.39,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 38.1
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+     "interpolated": 4750,
+     "mean_hand": 360,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9776,
+    "palm_axis_vs_markers_deg": {
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:46:28.282429+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_023",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260921/P23/20260921_073008_session132"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_023/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_023/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28792867ce8d11239f1976231b417f1523d0ae83
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_023/motions/hands_mano.npz
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+version https://git-lfs.github.com/spec/v1
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+size 3572242
diff --git a/actions/locomotion_primitives/P23/session_023/motions/smplx.npz b/actions/locomotion_primitives/P23/session_023/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_023/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_023/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P23/session_024/annotations.json b/actions/locomotion_primitives/P23/session_024/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..a350658392615a8f6e66bf0677ff451abb11ff02
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_024/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
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+   "duration_s": 128.966611,
+   "video": "left_eye",
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+   "action": "P23",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
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+   "t_start": 64.6629,
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+  },
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+   "segment": "segment1",
+   "action": "P23",
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+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_024/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_024/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c45080cf88ff7478d27c20769bc92b6f0f4a2d0
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_024/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.367
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
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+  "right_front-right": 0.466,
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+  "left_front": 38.469,
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+  "right_eye": 29.96,
+  "right_front": 38.769
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+}
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diff --git a/actions/locomotion_primitives/P23/session_024/cameras/slam.npz b/actions/locomotion_primitives/P23/session_024/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5ae8a1c269dfee2aa005418d50fb7a35840816d0
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P23/session_024/meta.json b/actions/locomotion_primitives/P23/session_024/meta.json
index 62013514b17469b14c8bcbd523dae47b14642284..3b255a57a350df9b5bbdce23aad8d50b97a41988 100644
--- a/actions/locomotion_primitives/P23/session_024/meta.json
+++ b/actions/locomotion_primitives/P23/session_024/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
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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": {
@@ -530,10 +530,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4404728536643674
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+     "interpolated": 6434,
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+   }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-03T22:32:38.910933+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260925/P23/20260925_081903_session89"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_024/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_024/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..65e6979f70de00f4530bcc0b0ca89dfad1ca6fc6
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3131288
diff --git a/actions/locomotion_primitives/P23/session_024/motions/smplx.npz b/actions/locomotion_primitives/P23/session_024/motions/smplx.npz
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--- a/actions/locomotion_primitives/P23/session_024/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_024/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P23/session_025/annotations.json b/actions/locomotion_primitives/P23/session_025/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ebe8a26d17025cd42c816463e104294e9f8144b
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_025/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 98.966644,
+   "video": "left_eye",
+   "video_t_start": 0.039060869663432474
+  }
+ ],
+ "episodes": [
+  {
+   "id": "3ec5e008-0b4d-4b26-a203-c8050459be12",
+   "segment": "segment1",
+   "action": "P23",
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+   "end_s": 91.183,
+   "t_start": 0.0391,
+   "t_end": 91.2221,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_025/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_025/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1885106c47591fa93e2c1d64b2eafe984cd1a96
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_025/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
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+  "groups_used": 15,
+  "median_px": 0.376
+ },
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+    "right_front",
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+ "factory_root_name": "e17c9efadb69e7b1",
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diff --git a/actions/locomotion_primitives/P23/session_025/cameras/slam.npz b/actions/locomotion_primitives/P23/session_025/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b18030f39aeb8347dcab535022f3f3bb6c3bda33
--- /dev/null
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diff --git a/actions/locomotion_primitives/P23/session_025/meta.json b/actions/locomotion_primitives/P23/session_025/meta.json
index fdfa45a43c42a636ce83e5b436304e4dc8999af7..75544c213327ca05989a7680de7c2e894fa992a6 100644
--- a/actions/locomotion_primitives/P23/session_025/meta.json
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@@ -326,8 +326,8 @@
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@@ -528,10 +528,124 @@
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  }
 }
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new file mode 100644
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_026/annotations.json
@@ -0,0 +1,28 @@
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new file mode 100644
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diff --git a/actions/locomotion_primitives/P23/session_026/cameras/slam.npz b/actions/locomotion_primitives/P23/session_026/cameras/slam.npz
new file mode 100644
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@@ -530,10 +530,124 @@
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+      "tier": "primary",
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+     }
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+    "observed_fraction_of_valid": 0.998,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.56
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.0
+     },
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+      "p90": 7.9
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.1448,
+     0.2443
+    ],
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+     "p90": 52.54
+    },
+    "samples": 1556,
+    "accepted": 940,
+    "wrist_pos_err_mm_median": 115.7,
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+      "tier": "primary",
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+     }
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+    "observed_fraction_of_valid": 0.7422,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.72,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 18.0
+     },
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+      "p90": 18.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:32:32.669716+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_026",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260925/P23/20260925_082311_session91"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_026/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_026/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc1898909357012e2eb51b7d7e554d69ee507245
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_026/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e5e554022c6c311b94eed161bc2fc422ac62d2bfb1900bb41a37bc73d52926f
+size 2500866
diff --git a/actions/locomotion_primitives/P23/session_026/motions/smplx.npz b/actions/locomotion_primitives/P23/session_026/motions/smplx.npz
index c95249ef1aed7a83cdc95b600258142616d8475e..e48124901738c037e9e346f127208d6dc584a165 100644
--- a/actions/locomotion_primitives/P23/session_026/motions/smplx.npz
+++ b/actions/locomotion_primitives/P23/session_026/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 4557827
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+size 8204727
diff --git a/actions/locomotion_primitives/P23/session_027/annotations.json b/actions/locomotion_primitives/P23/session_027/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..01dc1e4af719b4d4de65ccfbd355fbbf2673b9d0
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_027/annotations.json
@@ -0,0 +1,61 @@
+{
+ "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": "P23",
+ "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038981775682804365
+  }
+ ],
+ "episodes": [
+  {
+   "id": "c9aa5cab-0a28-4fcc-9115-20eaf1666096",
+   "segment": "segment1",
+   "action": "P23",
+   "quality": "valid",
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+   "end_s": 33,
+   "t_start": 1.039,
+   "t_end": 33.039,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 65.262,
+   "t_start": 33.039,
+   "t_end": 65.301,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P23",
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+   "end_s": 97.636,
+   "t_start": 65.301,
+   "t_end": 97.675,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  },
+  {
+   "id": "f2e4fa24-4802-4ea3-b902-67c2a50bb9fa",
+   "segment": "segment1",
+   "action": "P23",
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+   "end_s": 128.739,
+   "t_start": 97.675,
+   "t_end": 128.778,
+   "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P23/session_027/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P23/session_027/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e76df90b0e8d8c30820b8b128a73f84b9f8c24f
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_027/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "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": 0.945,
+   "gate_fail": [],
+   "held_out_px_after": 0.547,
+   "held_out_px_before": 6.208,
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+    -0.4105,
+    -0.7279
+   ],
+   "split_deg": 0.1141,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3617,
+   "gate_fail": [],
+   "held_out_px_after": 0.362,
+   "held_out_px_before": 6.14,
+   "inliers": 3331,
+   "position_fitted": true,
+   "position_mm": [
+    5.67,
+    -10.22,
+    5.74
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+   "position_split_mm": 2.662,
+   "rotvec_deg": [
+    -0.0002,
+    0.778,
+    -2.2299
+   ],
+   "split_deg": 0.0553,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 4.24,
+   "inliers": 2016,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2459,
+    -0.4585,
+    -0.5231
+   ],
+   "split_deg": 0.1806,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.0118,
+   "gate_fail": [],
+   "held_out_px_after": 0.351,
+   "held_out_px_before": 2.927,
+   "inliers": 3334,
+   "position_fitted": true,
+   "position_mm": [
+    8.54,
+    -12.07,
+    5.73
+   ],
+   "position_sigma_mm": 0.298,
+   "position_split_mm": 1.936,
+   "rotvec_deg": [
+    0.3147,
+    -0.346,
+    -0.8972
+   ],
+   "split_deg": 0.0441,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9854,
+   "gate_fail": [],
+   "held_out_px_after": 0.375,
+   "held_out_px_before": 6.369,
+   "inliers": 3311,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2367,
+    -0.0507,
+    -1.9706
+   ],
+   "split_deg": 0.0179,
+   "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": "27c66ef458be23da611aad2593856500c67b04edd064605ae6c9731f24e47417",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6762e6c73fcede47f39f51e2f8b3224c14e7871dabf3d4819fe147ea529e77f0",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "a89be1ed451916fd4f4636a73aafa885a8cdfd57d071b30313b2b36d1e76ad33",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "7365d99109342b9d5f81c7e0578c71e0597a1b2967e1cddaffc49e79ed2c6b75",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "12c753751e77e600",
+ "kind": "online_calibration",
+ "output_sha256": "6b84fa048e31542add873e5a2a940e620f9763088795a460ceb7fb1126a32b8e",
+ "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": 40.124,
+  "left_eye": 35.647,
+  "left_front": 31.041,
+  "right": 44.759,
+  "right_eye": 34.44,
+  "right_front": 35.053
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P23/session_027/cameras/slam.npz b/actions/locomotion_primitives/P23/session_027/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..419d8530bc53f890cc59b5e5a705ddbd2f7f1915
--- /dev/null
+++ b/actions/locomotion_primitives/P23/session_027/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0193096e749d0a123def8edbe06fb225eb22b74c3d9a6e7c1bd8e7a25c9ff1e6
+size 773689
diff --git a/actions/locomotion_primitives/P23/session_027/meta.json b/actions/locomotion_primitives/P23/session_027/meta.json
index b6ef70a11b5ac9df84e3aaec3deaef3fd391a32c..c46f34ec3f2ea2174db742009f4fe8703e64c68d 100644
--- a/actions/locomotion_primitives/P23/session_027/meta.json
+++ b/actions/locomotion_primitives/P23/session_027/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.5700605704857302
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 29.82,
+    "offset_rotvec": [
+     0.396,
+     -0.3233,
+     -0.0976
+    ],
+    "dev_deg": {
+     "median": 11.77,
+     "p90": 23.62
+    },
+    "samples": 3778,
+    "accepted": 3638,
+    "wrist_pos_err_mm_median": 42.6,
+    "per_camera": {
+     "head": {
+      "samples": 3778,
+      "accepted": 3638,
+      "gate_deg": 30.0,
+      "offset_deg": 29.82,
+      "tier": "primary",
+      "dev_deg_median": 11.77,
+      "wrist_pos_err_mm_median": 42.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14690,
+     "interpolated": 1382,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 31.51,
+     "smplx": 0.47
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 4.7,
+      "p90": 6.1
+     },
+     "registered": {
+      "median": 5.9,
+      "p90": 6.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 25.37,
+    "offset_rotvec": [
+     0.4174,
+     0.0568,
+     0.1362
+    ],
+    "dev_deg": {
+     "median": 12.67,
+     "p90": 31.24
+    },
+    "samples": 2607,
+    "accepted": 2312,
+    "wrist_pos_err_mm_median": 70.7,
+    "per_camera": {
+     "head": {
+      "samples": 2607,
+      "accepted": 2312,
+      "gate_deg": 30.0,
+      "offset_deg": 25.37,
+      "tier": "primary",
+      "dev_deg_median": 12.67,
+      "wrist_pos_err_mm_median": 70.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9556,
+     "interpolated": 5372,
+     "mean_hand": 1156,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9281,
+    "observed_fraction_of_valid": 0.9281,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 30.04,
+     "smplx": 0.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.3,
+      "p90": 17.5
+     },
+     "registered": {
+      "median": 10.1,
+      "p90": 16.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:25:45.981094+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P23/session_027",
   "family": "locomotion_primitives",
   "primitive": "P23",
   "source_session": "20260929/P23/20260929_043248_session82"
+ },
+ "task": {
+  "primitive": "P23",
+  "instruction": "Walk continuously around room; naturally change direction/speed; no manipulation."
  }
 }
diff --git a/actions/locomotion_primitives/P23/session_027/motions/hands_mano.npz b/actions/locomotion_primitives/P23/session_027/motions/hands_mano.npz
new file mode 100644
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