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@@ -514,5 +514,9 @@
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 }
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 }
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  }
 }
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+ "primitive": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
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+}
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  }
 }
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  }
 }
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  }
 }
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  }
 }
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+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
  }
 }
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+}
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@@ -508,10 +508,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  }
 }
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+}
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diff --git a/actions/locomanipulation/LM11/session_022/meta.json b/actions/locomanipulation/LM11/session_022/meta.json
index d94d846a535f6385d4110d3a8ee58d0503e0851e..113256e1f6084982a05bd5055df0bb5d8c29febb 100644
--- a/actions/locomanipulation/LM11/session_022/meta.json
+++ b/actions/locomanipulation/LM11/session_022/meta.json
@@ -339,8 +339,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -535,10 +535,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2588349486719768
  },
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+  "hands": {
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+    "offset_rotvec": [
+     0.1568,
+     0.3854,
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+     "p90": 12.3
+    },
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+    "accepted": 3795,
+    "wrist_pos_err_mm_median": 46.0,
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+      "accepted": 3795,
+      "gate_deg": 30.0,
+      "offset_deg": 25.41,
+      "tier": "primary",
+      "dev_deg_median": 3.15,
+      "wrist_pos_err_mm_median": 46.0
+     }
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+     "interpolated": 22,
+     "mean_hand": 1480,
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+    "observed_fraction_of_valid": 0.9113,
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+      "median": 9.9,
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+     },
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+     }
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+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261009/LM11/20261009_080242_session65"
+ },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
  }
 }
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new file mode 100644
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+size 5506066
diff --git a/actions/locomanipulation/LM11/session_022/motions/smplx.npz b/actions/locomanipulation/LM11/session_022/motions/smplx.npz
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--- a/actions/locomanipulation/LM11/session_022/motions/smplx.npz
+++ b/actions/locomanipulation/LM11/session_022/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomanipulation/LM11/session_023/annotations.json b/actions/locomanipulation/LM11/session_023/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c003b4e1374a3d0bfd4012864f957fc5c861e5a
--- /dev/null
+++ b/actions/locomanipulation/LM11/session_023/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
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+   "duration_s": 138.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03896007951757996
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
+   "action": "LM11",
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+   "end_s": 134.094,
+   "t_start": 1.039,
+   "t_end": 134.133,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomanipulation/LM11/session_023/cameras/gsi_online_calibration.json b/actions/locomanipulation/LM11/session_023/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..075c9e2dc0da7331727fec89863f10319c57020e
--- /dev/null
+++ b/actions/locomanipulation/LM11/session_023/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
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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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+  }
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+ "kind": "online_calibration",
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+  "right_front-right_eye": 0.734
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+  "right_front": 30.605
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+}
\ No newline at end of file
diff --git a/actions/locomanipulation/LM11/session_023/cameras/slam.npz b/actions/locomanipulation/LM11/session_023/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c6013bd8d3eb99492cb009915f6a35030714073c
--- /dev/null
+++ b/actions/locomanipulation/LM11/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/locomanipulation/LM11/session_023/meta.json b/actions/locomanipulation/LM11/session_023/meta.json
index 512133a149df03ccab4adc951dfc79648a00a793..5abe393a33bf40b795e09b8dc2665efec8473fe5 100644
--- a/actions/locomanipulation/LM11/session_023/meta.json
+++ b/actions/locomanipulation/LM11/session_023/meta.json
@@ -324,8 +324,8 @@
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-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -520,10 +520,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+      "offset_deg": 29.63,
+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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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/locomanipulation/LM11/session_023",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261009/LM11/20261009_114529_session123"
+ },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
  }
 }
diff --git a/actions/locomanipulation/LM11/session_023/motions/hands_mano.npz b/actions/locomanipulation/LM11/session_023/motions/hands_mano.npz
new file mode 100644
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+++ b/actions/locomanipulation/LM11/session_023/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5581575
diff --git a/actions/locomanipulation/LM11/session_023/motions/smplx.npz b/actions/locomanipulation/LM11/session_023/motions/smplx.npz
index 0d18ead42358d135753219ae2d4189f9e154c8b2..7f508360f3a9e48d9ed5dbd760204e2599626aa9 100644
--- a/actions/locomanipulation/LM11/session_023/motions/smplx.npz
+++ b/actions/locomanipulation/LM11/session_023/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomanipulation/LM11/session_024/annotations.json b/actions/locomanipulation/LM11/session_024/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..300fdfaeb188ad693bc3d12937532cb8d1c9f7e0
--- /dev/null
+++ b/actions/locomanipulation/LM11/session_024/annotations.json
@@ -0,0 +1,28 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "LM11",
+ "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966656,
+   "video": "left_eye",
+   "video_t_start": 0.038792039426496006
+  }
+ ],
+ "episodes": [
+  {
+   "id": "5c575b7d-2424-490a-82c5-b2cbc6826954",
+   "segment": "segment1",
+   "action": "LM11",
+   "quality": "valid",
+   "start_s": 2.088,
+   "end_s": 126.004,
+   "t_start": 2.1268,
+   "t_end": 126.0428,
+   "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
+  }
+ ]
+}
diff --git a/actions/locomanipulation/LM11/session_024/cameras/gsi_online_calibration.json b/actions/locomanipulation/LM11/session_024/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..bff869c74803c8ee6785ed28b309a54efa60a229
--- /dev/null
+++ b/actions/locomanipulation/LM11/session_024/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.361
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.2006,
+   "gate_fail": [],
+   "held_out_px_after": 0.427,
+   "held_out_px_before": 6.103,
+   "inliers": 3145,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1425,
+    -0.466,
+    -1.0973
+   ],
+   "split_deg": 0.1002,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.6406,
+   "gate_fail": [],
+   "held_out_px_after": 0.364,
+   "held_out_px_before": 7.441,
+   "inliers": 5079,
+   "position_fitted": true,
+   "position_mm": [
+    2.74,
+    -15.2,
+    2.74
+   ],
+   "position_sigma_mm": 0.228,
+   "position_split_mm": 3.997,
+   "rotvec_deg": [
+    -0.0284,
+    0.8827,
+    -2.4885
+   ],
+   "split_deg": 0.0349,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.8287,
+   "gate_fail": [],
+   "held_out_px_after": 0.679,
+   "held_out_px_before": 6.678,
+   "inliers": 1225,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.6484,
+    -0.586,
+    -0.5326
+   ],
+   "split_deg": 0.1468,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.2075,
+   "gate_fail": [],
+   "held_out_px_after": 0.347,
+   "held_out_px_before": 3.225,
+   "inliers": 5619,
+   "position_fitted": true,
+   "position_mm": [
+    5.55,
+    -17.66,
+    2.93
+   ],
+   "position_sigma_mm": 0.23,
+   "position_split_mm": 4.025,
+   "rotvec_deg": [
+    0.2993,
+    -0.2071,
+    -1.1513
+   ],
+   "split_deg": 0.0626,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.041,
+   "gate_fail": [],
+   "held_out_px_after": 0.331,
+   "held_out_px_before": 6.33,
+   "inliers": 5379,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.1956,
+    0.0892,
+    -2.0297
+   ],
+   "split_deg": 0.0258,
+   "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": "431e7a3dc7b2d9affb2fb797cae8dcb1290f07433bf018f70133d3d6f1254fba",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "47c9966776ea4bf2834e28f3e8da90851525fd23e83ac0f0bd7be44edbd7f4e4",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "816dee774f4490db6a71827062061732cb7fbf4cde8e38ca19bfaa521a12dcd5",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "47cb8fa0a11bf0a48ee1056a980c6eefe815efbdbdce10b6c0e5fb5aba16dff8",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "2f9c75883b807e60",
+ "kind": "online_calibration",
+ "output_sha256": "4208294fd11cf299dcf0a8016a52c37e80319507c139a48f3a8483eefee2e184",
+ "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": 33.27,
+  "left_eye": 26.641,
+  "left_front": 34.444,
+  "right": 35.292,
+  "right_eye": 26.105,
+  "right_front": 34.013
+ },
+ "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/locomanipulation/LM11/session_024/cameras/slam.npz b/actions/locomanipulation/LM11/session_024/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c9e0f8db2fd886fb4f0763826499d349e1c867e
--- /dev/null
+++ b/actions/locomanipulation/LM11/session_024/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f371f2caebf8c534982c2116f0ca33b496383462e400c231466735c667e8732
+size 770748
diff --git a/actions/locomanipulation/LM11/session_024/meta.json b/actions/locomanipulation/LM11/session_024/meta.json
index 5675a03761c0cf29168099b998691363e44b4dd2..040cbe4556dcb9e0aeedd4aee0a4ba4cae9cd5e2 100644
--- a/actions/locomanipulation/LM11/session_024/meta.json
+++ b/actions/locomanipulation/LM11/session_024/meta.json
@@ -348,8 +348,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -495,10 +495,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.75,
+    "offset_rotvec": [
+     0.2554,
+     0.1419,
+     0.0103
+    ],
+    "dev_deg": {
+     "median": 20.05,
+     "p90": 34.49
+    },
+    "samples": 3701,
+    "accepted": 3045,
+    "wrist_pos_err_mm_median": 73.7,
+    "per_camera": {
+     "head": {
+      "samples": 3701,
+      "accepted": 3045,
+      "gate_deg": 30.0,
+      "offset_deg": 16.75,
+      "tier": "primary",
+      "dev_deg_median": 20.05,
+      "wrist_pos_err_mm_median": 73.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12475,
+     "interpolated": 2808,
+     "mean_hand": 793,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9502,
+    "observed_fraction_of_valid": 0.9507,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 27.77,
+     "smplx": 1.11
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 11.3
+     },
+     "registered": {
+      "median": 7.8,
+      "p90": 16.3
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.0748,
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+     -0.1237
+    ],
+    "dev_deg": {
+     "median": 9.33,
+     "p90": 23.96
+    },
+    "samples": 3662,
+    "accepted": 3433,
+    "wrist_pos_err_mm_median": 75.7,
+    "per_camera": {
+     "head": {
+      "samples": 3662,
+      "accepted": 3433,
+      "gate_deg": 30.0,
+      "offset_deg": 10.63,
+      "tier": "primary",
+      "dev_deg_median": 9.33,
+      "wrist_pos_err_mm_median": 75.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13875,
+     "interpolated": 2060,
+     "mean_hand": 141,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9907,
+    "observed_fraction_of_valid": 0.9912,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.47,
+     "smplx": 1.29
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.7,
+      "p90": 7.8
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 6.6
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:13:41.479800+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/locomanipulation/LM11/session_024",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261010/LM11/20261010_085430_session114"
+ },
+ "task": {
+  "primitive": "LM11",
+  "instruction": "Carry the light box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop."
  }
 }
diff --git a/actions/locomanipulation/LM11/session_024/motions/hands_mano.npz b/actions/locomanipulation/LM11/session_024/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1ab3864aa53e0ccbdfd5bc8de34dfbffe9736ff3
--- /dev/null
+++ b/actions/locomanipulation/LM11/session_024/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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