diff --git a/actions/locomotion_primitives/P10/session_013/annotations.json b/actions/locomotion_primitives/P10/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..5770b3521b516981193e8c439c40bd9cf0d39fef
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_013/annotations.json
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+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "P10",
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+}
diff --git a/actions/locomotion_primitives/P10/session_013/cameras/slam.npz b/actions/locomotion_primitives/P10/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b731effdfcf5431bf45aa7dc1b12a1208ecd4f9
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_013/cameras/slam.npz
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+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P10/session_013/meta.json b/actions/locomotion_primitives/P10/session_013/meta.json
index 719a6a87e132aead9ceb11f93d760b18a64a5219..7c55e62bb02d85a01cae68e97dcb754ec86c1548 100644
--- a/actions/locomotion_primitives/P10/session_013/meta.json
+++ b/actions/locomotion_primitives/P10/session_013/meta.json
@@ -341,8 +341,8 @@
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   "hands": {
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-   "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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@@ -533,10 +533,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20260918/P10/20260918_012342_session10"
+ },
+ "task": {
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+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }
diff --git a/actions/locomotion_primitives/P10/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P10/session_013/motions/hands_mano.npz
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--- /dev/null
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+{
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+ "primitive": "P10",
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+}
diff --git a/actions/locomotion_primitives/P10/session_014/cameras/slam.npz b/actions/locomotion_primitives/P10/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b5c9b19372904525012e48c4878d12a5dd6b8f26
--- /dev/null
+++ b/actions/locomotion_primitives/P10/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/P10/session_014/meta.json b/actions/locomotion_primitives/P10/session_014/meta.json
index 81fa6442871a20fd4bee2566cf0969da4eeb7647..53815c6dd78d6b775eada6ac1af5582394732657 100644
--- a/actions/locomotion_primitives/P10/session_014/meta.json
+++ b/actions/locomotion_primitives/P10/session_014/meta.json
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   "hands": {
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -524,10 +524,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7637779446951902
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+    },
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+     }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P10/session_014",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20260921/P10/20260921_010849_session11"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }
diff --git a/actions/locomotion_primitives/P10/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P10/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0794fade7365e1e83d1a9a589097d1de8d923ad5
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2d4597190eb0f5c783d869522ed1379815779acacff827c6a170695425173e4
+size 2850705
diff --git a/actions/locomotion_primitives/P10/session_014/motions/smplx.npz b/actions/locomotion_primitives/P10/session_014/motions/smplx.npz
index 6a0abbf17423da2068909f6a1b7f001c32a8a575..3a132e3c4655a50c73ada7ad90289b9177aa8648 100644
--- a/actions/locomotion_primitives/P10/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P10/session_014/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:19cd98519f059180af4a3efc7f399da6aa17d5356b868b00a700be8fdad0d8a3
-size 4106099
+oid sha256:3e06b31375672d4e7b215f4c6492e22b1649c37f5b7708b094bd94fedaca8b31
+size 7635434
diff --git a/actions/locomotion_primitives/P10/session_015/annotations.json b/actions/locomotion_primitives/P10/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..145f6ac7c19e521987948a579672c2bffbca2cce
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_015/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P10",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P10/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P10/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc910eae9809cd85d606620508e4f06093c5b4d
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,254 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.373
+ },
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+   "accepted": true,
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "against": [
+    "left_front",
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+    "right_eye",
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+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
+  "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b6b4bc31f97ab09090cd68e29a481a2c85fe39c9354bc42b264cc59b1d691110",
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+  },
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+  },
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+  "right_front-right_eye": 0.734
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+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P10/session_015/cameras/slam.npz b/actions/locomotion_primitives/P10/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9ed1204a43e366d0a6e43473464b216a8226d2db
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7425c6d709e12480dfa35dcdac603a392f4b7206da013189495774f4ce7bbb32
+size 593285
diff --git a/actions/locomotion_primitives/P10/session_015/meta.json b/actions/locomotion_primitives/P10/session_015/meta.json
index a49a701058bd1c1ad8ce2cbea5f7fa8b6a6be1fd..fbb7130eb507403b539df312b4dc4419ed11583c 100644
--- a/actions/locomotion_primitives/P10/session_015/meta.json
+++ b/actions/locomotion_primitives/P10/session_015/meta.json
@@ -340,8 +340,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -543,10 +543,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0671564749144964
  },
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+    "accepted": 1794,
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+     "mean_hand": 664,
+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+      "tier": "primary",
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+    "observed_fraction_of_valid": 0.8917,
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+    "hand_marker_to_mesh_mm": {
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+     "registered": {
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+      "p90": 10.8
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+    }
+   }
+  },
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+  "max_gap_s": 1.0,
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+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260923/P10/20260923_071317_session52"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }
diff --git a/actions/locomotion_primitives/P10/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P10/session_015/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P10/session_015/motions/smplx.npz b/actions/locomotion_primitives/P10/session_015/motions/smplx.npz
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--- a/actions/locomotion_primitives/P10/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P10/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P10/session_016/annotations.json b/actions/locomotion_primitives/P10/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..146c24c42e663ed452f6a635d8788dee2a006dc9
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_016/annotations.json
@@ -0,0 +1,171 @@
+{
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+ "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",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P10/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P10/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..089d79d3f55c454efa0d07b6bee950dfe6889ff4
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
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+  "groups_used": 15,
+  "median_px": 0.355
+ },
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+ "factory_root_name": "e17c9efadb69e7b1",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P10/session_016/cameras/slam.npz b/actions/locomotion_primitives/P10/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..99779dee54e2597bf0474983bf2864ddbc09b544
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 972138
diff --git a/actions/locomotion_primitives/P10/session_016/meta.json b/actions/locomotion_primitives/P10/session_016/meta.json
index 408fabf3e47526dc52db0bef4289455c4f869262..dc85f8167b2c80724f8fb5b2b611689f2e95342c 100644
--- a/actions/locomotion_primitives/P10/session_016/meta.json
+++ b/actions/locomotion_primitives/P10/session_016/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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1016153557455461
  },
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 178.6
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+     "mean_hand": 1417,
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   "source_session": "20260928/P10/20260928_072424_session24"
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  }
 }
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diff --git a/actions/locomotion_primitives/P10/session_017/cameras/slam.npz b/actions/locomotion_primitives/P10/session_017/cameras/slam.npz
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--- /dev/null
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index 3388b654306eb8327b20becfe9159d5cb3b88a21..51eba33a72da17d59faa1b8549d464ba36392131 100644
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+++ b/actions/locomotion_primitives/P10/session_017/meta.json
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@@ -506,10 +506,124 @@
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  }
 }
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diff --git a/actions/locomotion_primitives/P10/session_018/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P10/session_018/cameras/gsi_online_calibration.json
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index 0000000000000000000000000000000000000000..c7e5ff6694b7090aed52c486d4380e1b4c848cdd
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+ },
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+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4272,
+   "gate_fail": [],
+   "held_out_px_after": 0.452,
+   "held_out_px_before": 17.724,
+   "inliers": 736,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3248,
+    -0.2365,
+    -0.4751
+   ],
+   "split_deg": 0.0411,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.4459,
+   "gate_fail": [],
+   "held_out_px_after": 0.717,
+   "held_out_px_before": 8.002,
+   "inliers": 1016,
+   "position_fitted": true,
+   "position_mm": [
+    2.21,
+    -31.6,
+    -9.89
+   ],
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+   "position_split_mm": 4.781,
+   "rotvec_deg": [
+    1.7332,
+    -0.6928,
+    1.5807
+   ],
+   "split_deg": 0.164,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 2.8658,
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+   "held_out_px_after": 0.608,
+   "held_out_px_before": 5.397,
+   "inliers": 598,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2677,
+    -1.18,
+    2.2833
+   ],
+   "split_deg": 0.4231,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 3.1102,
+   "gate_fail": [],
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+   "held_out_px_before": 6.138,
+   "inliers": 1261,
+   "position_fitted": true,
+   "position_mm": [
+    2.19,
+    -21.45,
+    -0.38
+   ],
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+   "position_split_mm": 2.129,
+   "rotvec_deg": [
+    1.8057,
+    -1.1852,
+    2.2378
+   ],
+   "split_deg": 0.0418,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.3758,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2835,
+    -0.2432,
+    0.041
+   ],
+   "split_deg": 0.0446,
+   "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": "63d3fcc24fd0f2f5bff2e1f674df35439e6722059661e0eea5c9db3df38ba1eb",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "4b292507e8ddaf283bc43ee11d18b174c322a5d20152f29dcf6e1296f9673fe8",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9e902b94c9a4cd95fe5e8ccce13a57b585932184c016e6e2a3b1d9e4713dd32a",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "2b4538493d97ffa0200660265df3ef117695b5e7de27c7aa52ce3162b643be4d",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "7c0a3e9d1eca7cc3",
+ "kind": "online_calibration",
+ "output_sha256": "d1c71f6b8626d542963f1f0f7bbb756132e33c73424726ccddf603f2029e06c0",
+ "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": 39.105,
+  "left_eye": 37.018,
+  "left_front": 43.384,
+  "right": 39.85,
+  "right_eye": 36.601,
+  "right_front": 41.123
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   5410112449555,
+   5411112394000,
+   5412112416222,
+   5535112471777,
+   5537112416222,
+   5538112416222,
+   5539112394000,
+   5540112416222,
+   5541112416222
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P10/session_018/cameras/slam.npz b/actions/locomotion_primitives/P10/session_018/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..894bae6808d5666a5833434c6855ea2c281a38ac
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_018/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dfdbeabafe592df0f5ad4c80a50e039cc6713c6c59d80c27c8c6d27bc4a503a
+size 869666
diff --git a/actions/locomotion_primitives/P10/session_018/meta.json b/actions/locomotion_primitives/P10/session_018/meta.json
index 659d00cbfe95ca01becc7d7e504af0caecdcfffc..09bd0c1ba1b78313b4f7f158767044b40e45ad2a 100644
--- a/actions/locomotion_primitives/P10/session_018/meta.json
+++ b/actions/locomotion_primitives/P10/session_018/meta.json
@@ -389,8 +389,8 @@
   "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 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 23.48,
+    "offset_rotvec": [
+     0.3568,
+     -0.1097,
+     0.1693
+    ],
+    "dev_deg": {
+     "median": 15.21,
+     "p90": 25.61
+    },
+    "samples": 3406,
+    "accepted": 3288,
+    "wrist_pos_err_mm_median": 64.9,
+    "per_camera": {
+     "head": {
+      "samples": 3406,
+      "accepted": 3288,
+      "gate_deg": 30.0,
+      "offset_deg": 23.48,
+      "tier": "primary",
+      "dev_deg_median": 15.21,
+      "wrist_pos_err_mm_median": 64.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13465,
+     "interpolated": 4474,
+     "mean_hand": 193,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9889,
+    "observed_fraction_of_valid": 0.9894,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 25.4,
+     "smplx": 0.59
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 8.0
+     },
+     "registered": {
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+      "p90": 10.3
+     }
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+     0.1284
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+     "median": 20.74,
+     "p90": 39.18
+    },
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+    "accepted": 2866,
+    "wrist_pos_err_mm_median": 74.7,
+    "per_camera": {
+     "head": {
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+      "accepted": 2866,
+      "gate_deg": 30.0,
+      "offset_deg": 15.23,
+      "tier": "primary",
+      "dev_deg_median": 20.74,
+      "wrist_pos_err_mm_median": 74.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11735,
+     "interpolated": 4508,
+     "mean_hand": 1889,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8954,
+    "observed_fraction_of_valid": 0.8958,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.56,
+     "smplx": 2.79
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.9,
+      "p90": 17.3
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 16.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:47:13.296285+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/P10/session_018",
   "family": "locomotion_primitives",
   "primitive": "P10",
   "source_session": "20261016/P10/20261016_020457_session40"
+ },
+ "task": {
+  "primitive": "P10",
+  "instruction": "Walk straight; turn 90\u00b0 left/right while continuing to walk; continue."
  }
 }
diff --git a/actions/locomotion_primitives/P10/session_018/motions/hands_mano.npz b/actions/locomotion_primitives/P10/session_018/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b89f4ccb542cb4461fa5e35d9d177d1fcfa16b2e
--- /dev/null
+++ b/actions/locomotion_primitives/P10/session_018/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5a845305cc6b18c1c176b6c481d9efc224570299094bf7a794c627dbba6b3c
+size 4743038
diff --git a/actions/locomotion_primitives/P10/session_018/motions/smplx.npz b/actions/locomotion_primitives/P10/session_018/motions/smplx.npz
index 89dc56b96444147b9abe8179c0091b759ac2ed3a..ce199ab9649004c42765ebccacabafa575b80657 100644
--- a/actions/locomotion_primitives/P10/session_018/motions/smplx.npz
+++ b/actions/locomotion_primitives/P10/session_018/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:35fd860bb140d8424bd45d131096d73b92eb48de65c6eefc6abe5a84db96a24a
-size 6949922
+oid sha256:37ab3409322e0046c7b343d046f30414e18add992b5c86ff3da4e0e7e986e86a
+size 12811699
diff --git a/actions/locomotion_primitives/P11/session_001/annotations.json b/actions/locomotion_primitives/P11/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad08b67cbddaf57de03ee39c5731b77f217c9943
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
+ "segments": [
+  {
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+   "duration_s": 143.966511,
+   "video": "left_eye",
+   "video_t_start": 0.038371277695167016
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
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+   "end_s": 13.787,
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+  },
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+   "t_end": 119.9984,
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae4631be08a76f1e3c0057b3cfa44cd0af4dbb99
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 16.18,
+    "pair": [
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+     "right"
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+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+   "delta_deg": 0.8951,
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+   "inliers": 1635,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0201,
+    0.7786,
+    0.4411
+   ],
+   "split_deg": 0.0449,
+   "usable": true
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+   "against": [
+    "left_front",
+    "right_front",
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+    "left",
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+   "position_fitted": true,
+   "position_mm": [
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+    9.06,
+    10.63
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+   "against": [
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+    "left_eye",
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+   "inliers": 2650,
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+    0.3764,
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+  },
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+ "factory_root_name": "850a0e6aafa85fdf",
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_eye": 43.706,
+  "left_front": 48.91,
+  "right": 44.601,
+  "right_eye": 43.194,
+  "right_front": 50.973
+ },
+ "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/P11/session_001/cameras/slam.npz b/actions/locomotion_primitives/P11/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..76a7278dd3538e6ca62387ad21890e1e2e5d2cf9
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802d02b7dca106f40aaf9492b861562f4aa9547329dc8273d7013f2abf299fbe
+size 824196
diff --git a/actions/locomotion_primitives/P11/session_001/meta.json b/actions/locomotion_primitives/P11/session_001/meta.json
index 857e55a62745e15ef7633e3a67d7067e5b79c057..e730cc01284fbcc4fd25bb3694b5a6d75f8236e0 100644
--- a/actions/locomotion_primitives/P11/session_001/meta.json
+++ b/actions/locomotion_primitives/P11/session_001/meta.json
@@ -332,8 +332,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -518,10 +518,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "accepted": 3922,
+    "wrist_pos_err_mm_median": 49.5,
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+      "accepted": 3922,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 49.5
+     }
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+     "interpolated": 1412,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
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+    "palm_axis_vs_markers_deg": {
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+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.9
+     },
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+      "p90": 8.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:27:41.330434+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/P11/session_001",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260828/P11/20260828_060739_session13"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..78c05c47a4c9c96e21cbb30d7bfb03a51cd0d684
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c80342c1df07727c927749ef0e954cbbc8aeca035e988a7e3191f6f9d7baab8f
+size 5473886
diff --git a/actions/locomotion_primitives/P11/session_001/motions/smplx.npz b/actions/locomotion_primitives/P11/session_001/motions/smplx.npz
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--- a/actions/locomotion_primitives/P11/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:b8e6e1048bcc1ae74f30a146d8456c6d2359cd0902e738a867321d5ea8e81ed5
-size 6608055
+oid sha256:af4bf837ae3204481b1e816558d5b537ee4b4a5b8770af784ff3633c482c0876
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diff --git a/actions/locomotion_primitives/P11/session_002/annotations.json b/actions/locomotion_primitives/P11/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5362e672dfd6e4001f05ea29d06f441dd6f4cd
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P11",
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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f62d431feddaefd3e4f5b7de53d7d8968f47225
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
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+    0.7422,
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+ "factory_root_name": "850a0e6aafa85fdf",
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+  }
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 41.25,
+  "left_front": 49.004,
+  "right": 44.709,
+  "right_eye": 42.194,
+  "right_front": 50.07
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+}
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diff --git a/actions/locomotion_primitives/P11/session_002/cameras/slam.npz b/actions/locomotion_primitives/P11/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..00ed9955b1d2abac783455937d6b2a36325315a8
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbd73dd28ef0253c36ec73c7bdae50987f7bf686378515af0fbca18ca4277842
+size 794978
diff --git a/actions/locomotion_primitives/P11/session_002/meta.json b/actions/locomotion_primitives/P11/session_002/meta.json
index 4a81adc5dbdf90670398ae84259b0a4622c18fa2..bce310eb1acf55c2fd9e5057766cf54290537bdf 100644
--- a/actions/locomotion_primitives/P11/session_002/meta.json
+++ b/actions/locomotion_primitives/P11/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": {
@@ -525,10 +525,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+     "p90": 17.7
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+    "accepted": 3829,
+    "wrist_pos_err_mm_median": 45.4,
+    "per_camera": {
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+      "accepted": 3829,
+      "gate_deg": 30.0,
+      "offset_deg": 16.9,
+      "tier": "primary",
+      "dev_deg_median": 7.61,
+      "wrist_pos_err_mm_median": 45.4
+     }
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+     "interpolated": 1200,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.51
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+    "hand_marker_to_mesh_mm": {
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+     },
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+     }
+    }
+   }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T12:27:39.627899+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/P11/session_002",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260828/P11/20260828_061017_session14"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df46c29fbdb3fb7b400d1d0cb47b764cd4eec558
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db4c2cb8b5afb62fc50f09c5cccaef13029bd680d0af63a69955eacf0f371b24
+size 5216592
diff --git a/actions/locomotion_primitives/P11/session_002/motions/smplx.npz b/actions/locomotion_primitives/P11/session_002/motions/smplx.npz
index 7a4e55c1ccaaa19346e432ce64d1d2cfa8d9133f..ffffedbcd513b06a33a6d5a1a3cc532a6d541d4c 100644
--- a/actions/locomotion_primitives/P11/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P11/session_003/annotations.json b/actions/locomotion_primitives/P11/session_003/annotations.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P11",
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+   "video": "left_eye",
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+  }
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+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c134d6e7f65e9b8f0bd8cd095153de4688f43a9f
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+  },
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+  },
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+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
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+  "left_front": 41.513,
+  "right": 42.24,
+  "right_eye": 36.087,
+  "right_front": 40.685
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
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+}
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diff --git a/actions/locomotion_primitives/P11/session_003/cameras/slam.npz b/actions/locomotion_primitives/P11/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c2f6ad33fdf2dd16dc8906068e21820b50bfe73e
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1496923393ea1affb7045c2cc47449a304e65ed7bc8061fa4a61dc0333858cd3
+size 684145
diff --git a/actions/locomotion_primitives/P11/session_003/meta.json b/actions/locomotion_primitives/P11/session_003/meta.json
index 0aac876df51ed5aeadfc4a3dc92730cc2c3b6fd4..dc0269536bf7e800856ef9a0ac75d3b74f5fd087 100644
--- a/actions/locomotion_primitives/P11/session_003/meta.json
+++ b/actions/locomotion_primitives/P11/session_003/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": {
@@ -524,10 +524,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
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+    "offset_rotvec": [
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+     "p90": 20.07
+    },
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+    "accepted": 2634,
+    "wrist_pos_err_mm_median": 51.5,
+    "per_camera": {
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+      "accepted": 2634,
+      "gate_deg": 30.0,
+      "offset_deg": 12.12,
+      "tier": "primary",
+      "dev_deg_median": 6.58,
+      "wrist_pos_err_mm_median": 51.5
+     }
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+     "interpolated": 3300,
+     "mean_hand": 12,
+     "no_body_fit": 29
+    },
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+    "observed_fraction_of_valid": 0.9992,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.65
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+    "hand_marker_to_mesh_mm": {
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+     },
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+     }
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+    "wrist_pos_err_mm_median": 42.2,
+    "per_camera": {
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+      "accepted": 2291,
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.82
+    },
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+     },
+     "registered": {
+      "median": 6.7,
+      "p90": 9.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:48:55.322652+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/P11/session_003",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260904/P11/20260904_042109_session50"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ddea412d41d9dedbf93ba05ceb99297b7b4cd869
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81228b8e607dc522633fd121dbe175be38775d6ac58d7b0865597264454f9c08
+size 3664741
diff --git a/actions/locomotion_primitives/P11/session_003/motions/smplx.npz b/actions/locomotion_primitives/P11/session_003/motions/smplx.npz
index 5c288dcebd8d46a06d7d764580bff52d8fd9d659..417e2950f0a174961494417df0b949c07e47cc9f 100644
--- a/actions/locomotion_primitives/P11/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:015c7a3409454c5c8810e04135c72b97a9d0524614076995aa07262d5bfe51ae
-size 5497182
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+size 10283169
diff --git a/actions/locomotion_primitives/P11/session_004/annotations.json b/actions/locomotion_primitives/P11/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fb919ecf267a4cb3879376b64aa3e8583040678
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_004/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
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+   "video": "left_eye",
+   "video_t_start": 0.03832352418351048
+  }
+ ],
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+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
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+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8436b880e8d8bfe5fedb5bd6629bcf912c98a2ab
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
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+  "median_px": 0.338
+ },
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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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+  "right_front-left_eye": 0.723,
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+ },
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+  "left_front": 41.798,
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+  "right_front": 41.858
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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/P11/session_004/cameras/slam.npz b/actions/locomotion_primitives/P11/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2be325a5dddf06d5feb52ce7fce25fa3ee5f6f02
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:342985c3c2efb592a0cfa0c266c527cf61034d5f81409c32a701493c23f759ee
+size 714148
diff --git a/actions/locomotion_primitives/P11/session_004/meta.json b/actions/locomotion_primitives/P11/session_004/meta.json
index 2a9524b508b1923807f27219799788b452c919d2..276dd3eb4e037316613afb50cfd1abb433d37634 100644
--- a/actions/locomotion_primitives/P11/session_004/meta.json
+++ b/actions/locomotion_primitives/P11/session_004/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)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8520691735435076
  },
+ "hands_registration": {
+  "cameras": {},
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+    "offset_rotvec": [
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+     -0.1546
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+    "accepted": 2422,
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+    "per_camera": {
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+      "offset_deg": 18.39,
+      "tier": "primary",
+      "dev_deg_median": 11.73,
+      "wrist_pos_err_mm_median": 60.7
+     }
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.7
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+      "tier": "primary",
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+    "observed_fraction_of_valid": 0.8828,
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260908/P11/20260908_012820_session10"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1c491e90d40b98874a88e57bb7243c4b47bf48dc
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:572c0dfeb6b3962d32cf215dfb12f15e11b7137169ba00a5a295395489efc845
+size 3947967
diff --git a/actions/locomotion_primitives/P11/session_004/motions/smplx.npz b/actions/locomotion_primitives/P11/session_004/motions/smplx.npz
index 402bfb78f1962f8d5fac362416ab2276cd58e0b9..80c5317969e1f8930265e80c8cf3c5bbbd352c0f 100644
--- a/actions/locomotion_primitives/P11/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:c8ac06ff875e33f921cf4fa632eab333ec241b8e3b25130152c93f0447b9779a
-size 5717767
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diff --git a/actions/locomotion_primitives/P11/session_005/annotations.json b/actions/locomotion_primitives/P11/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..608b9365fef684f39b923f700baab6bab25b20c1
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_005/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
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+   "video": "left_eye",
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+  }
+ ],
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+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_005/cameras/slam.npz b/actions/locomotion_primitives/P11/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7ed240d4516aeccb8ecb80054bf0a2e788ad91b2
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:992177b11cd2613d09a486a90aa2f4364f7bf34214fad4fb7a8008fc6ab3c572
+size 657581
diff --git a/actions/locomotion_primitives/P11/session_005/meta.json b/actions/locomotion_primitives/P11/session_005/meta.json
index ca4c44db8dffdc83bac1397b4d3a656b203ca694..7e3885397f8653d5e212e8fd069ed6a584c5b207 100644
--- a/actions/locomotion_primitives/P11/session_005/meta.json
+++ b/actions/locomotion_primitives/P11/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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     "left": {
@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7159678226259181
  },
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+    "accepted": 1280,
+    "wrist_pos_err_mm_median": 143.1,
+    "per_camera": {
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+      "accepted": 1280,
+      "gate_deg": 30.0,
+      "offset_deg": 7.66,
+      "tier": "primary",
+      "dev_deg_median": 17.95,
+      "wrist_pos_err_mm_median": 143.1
+     }
+    },
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+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.9711,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.99
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+      "p90": 12.2
+     },
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+     0.1521
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+     },
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:56:58.920534+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": "P11",
   "source_session": "20260908/P11/20260908_071551_session62"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..59adac24c09e14bad41605f8727f86b61b4d089f
--- /dev/null
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diff --git a/actions/locomotion_primitives/P11/session_006/cameras/slam.npz b/actions/locomotion_primitives/P11/session_006/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..de713b2af255ad6be441cf066343ffaa217b84a5
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P11/session_006/meta.json b/actions/locomotion_primitives/P11/session_006/meta.json
index 4a7e2fcc6d553bee66cc239759219d977056cf1d..079ea715586910a5def13e9f39dfab5c621e0c1d 100644
--- a/actions/locomotion_primitives/P11/session_006/meta.json
+++ b/actions/locomotion_primitives/P11/session_006/meta.json
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   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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+  "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": "P11",
   "source_session": "20260909/P11/20260909_005232_session5"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
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+}
diff --git a/actions/locomotion_primitives/P11/session_007/cameras/slam.npz b/actions/locomotion_primitives/P11/session_007/cameras/slam.npz
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@@ -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": 1.0289650563280304
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 35.23,
+    "offset_rotvec": [
+     0.5359,
+     -0.2766,
+     0.1203
+    ],
+    "dev_deg": {
+     "median": 16.98,
+     "p90": 37.52
+    },
+    "samples": 2747,
+    "accepted": 2206,
+    "wrist_pos_err_mm_median": 180.0,
+    "per_camera": {
+     "head": {
+      "samples": 2747,
+      "accepted": 2206,
+      "gate_deg": 30.0,
+      "offset_deg": 35.23,
+      "tier": "primary",
+      "dev_deg_median": 16.98,
+      "wrist_pos_err_mm_median": 180.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9447,
+     "interpolated": 12976,
+     "mean_hand": 253,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9885,
+    "observed_fraction_of_valid": 0.9888,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 23.2,
+     "smplx": 0.35
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.3,
+      "p90": 13.5
+     },
+     "registered": {
+      "median": 8.5,
+      "p90": 11.6
+     }
+    }
+   },
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+    "offset_rotvec": [
+     0.0703,
+     0.1966,
+     0.115
+    ],
+    "dev_deg": {
+     "median": 17.18,
+     "p90": 61.63
+    },
+    "samples": 1495,
+    "accepted": 920,
+    "wrist_pos_err_mm_median": 134.3,
+    "per_camera": {
+     "head": {
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+      "accepted": 920,
+      "gate_deg": 30.0,
+      "offset_deg": 13.66,
+      "tier": "primary",
+      "dev_deg_median": 17.18,
+      "wrist_pos_err_mm_median": 134.3
+     }
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+     "interpolated": 3178,
+     "mean_hand": 16192,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.2858,
+    "observed_fraction_of_valid": 0.2859,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.64,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 11.1,
+      "p90": 13.9
+     },
+     "registered": {
+      "median": 11.6,
+      "p90": 13.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:26:55.822067+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/P11/session_007",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260912/P11/20260912_015248_session10"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3bc246b79d5e91050412b2407b22d7f2f7d7c31f
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7afc5220cbc54b798c92b146d2e6000593943f478d359dbd45751db973394e84
+size 3104471
diff --git a/actions/locomotion_primitives/P11/session_007/motions/smplx.npz b/actions/locomotion_primitives/P11/session_007/motions/smplx.npz
index be254028d009a2e3a199955eec98ca709d3b6927..b15695adf11bc2c1314a4e953ecee2e3bab4496a 100644
--- a/actions/locomotion_primitives/P11/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:06efa56b6a9d37cec55e7866a010384b5dd9f36994783690433afd45d901ad2e
-size 8769611
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diff --git a/actions/locomotion_primitives/P11/session_008/annotations.json b/actions/locomotion_primitives/P11/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cd70eeeb08b68a8c532ee6cde05c441f291e991
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_008/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
+ "segments": [
+  {
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+   "duration_s": 218.9667,
+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8add7c541ffadd354c95ff0ba0bd7fa57a7b152
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.343
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.7812,
+   "gate_fail": [],
+   "held_out_px_after": 0.431,
+   "held_out_px_before": 2.651,
+   "inliers": 2958,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4302,
+    -0.2682,
+    -0.5944
+   ],
+   "split_deg": 0.092,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9215,
+   "gate_fail": [],
+   "held_out_px_after": 0.402,
+   "held_out_px_before": 6.842,
+   "inliers": 3850,
+   "position_fitted": true,
+   "position_mm": [
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+   "position_split_mm": 1.716,
+   "rotvec_deg": [
+    0.1566,
+    0.5972,
+    -1.8196
+   ],
+   "split_deg": 0.1244,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.9925,
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+   "held_out_px_before": 3.781,
+   "inliers": 1235,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.9008,
+    -0.3325,
+    -0.2508
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
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+   ],
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+   "inliers": 4392,
+   "position_fitted": true,
+   "position_mm": [
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+    -14.02,
+    6.87
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+   "position_split_mm": 4.733,
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+    0.3202,
+    -0.4948,
+    -0.4906
+   ],
+   "split_deg": 0.1057,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 6.051,
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+    -1.288
+   ],
+   "split_deg": 0.0276,
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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": "04eef0656afc6957eeeafab531c2bcd73ee0263884cdfa1c4286009d016db4be",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "865d2e418870e20f4ceaec80883abded3a1c7dbabe4528f8d222256a04ac5a19",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "bb2f6f6f52523343",
+ "kind": "online_calibration",
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+  "right_eye-left": 0.696,
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_front": 33.626,
+  "right": 38.414,
+  "right_eye": 28.115,
+  "right_front": 32.875
+ },
+ "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/P11/session_008/cameras/slam.npz b/actions/locomotion_primitives/P11/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ba898f52121eed3c7791500ec432d7396876e67f
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0f88e67f993f2251f020cf189a3ed9fc7599042b8ac10857ddbcbd914c6b313
+size 1256823
diff --git a/actions/locomotion_primitives/P11/session_008/meta.json b/actions/locomotion_primitives/P11/session_008/meta.json
index 6bef83667c7b034cbaa43efd3425267769fac552..53fe0b61bbd13e1c647429982b648cfbce405a41 100644
--- a/actions/locomotion_primitives/P11/session_008/meta.json
+++ b/actions/locomotion_primitives/P11/session_008/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": {
@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8520490374376017
  },
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+    "accepted": 3840,
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+      "accepted": 3840,
+      "gate_deg": 30.0,
+      "offset_deg": 9.51,
+      "tier": "primary",
+      "dev_deg_median": 12.48,
+      "wrist_pos_err_mm_median": 39.7
+     }
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.67
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+     },
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+      "p90": 11.3
+     }
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+      "tier": "primary",
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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",
+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260912/P11/20260912_072428_session42"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..450da9a7a25c0afedc9f4eb8fe2251fc236110af
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 5363573
diff --git a/actions/locomotion_primitives/P11/session_008/motions/smplx.npz b/actions/locomotion_primitives/P11/session_008/motions/smplx.npz
index 89f71c780acacc2ec9f20a4b83e53b0a19d6dc10..0afdd82abed602fd3f40ad954962b35291464c2a 100644
--- a/actions/locomotion_primitives/P11/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_008/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/P11/session_009/annotations.json b/actions/locomotion_primitives/P11/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e51a01c96005baae5e20c42a8e43412c4f2174f4
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_009/annotations.json
@@ -0,0 +1,171 @@
+{
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+}
diff --git a/actions/locomotion_primitives/P11/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..721fa11ad6270aafabe3cb026ffd049d926f1e6d
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,260 @@
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diff --git a/actions/locomotion_primitives/P11/session_009/cameras/slam.npz b/actions/locomotion_primitives/P11/session_009/cameras/slam.npz
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diff --git a/actions/locomotion_primitives/P11/session_009/meta.json b/actions/locomotion_primitives/P11/session_009/meta.json
index 5e2a4422d7709998fc4d3127beadaf6c461583b1..0663c963aab6318ed3127f81ccbc567ba9b09d1b 100644
--- a/actions/locomotion_primitives/P11/session_009/meta.json
+++ b/actions/locomotion_primitives/P11/session_009/meta.json
@@ -329,8 +329,8 @@
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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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+  "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": "P11",
   "source_session": "20260917/P11/20260917_013743_session15"
+ },
+ "task": {
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+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
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@@ -0,0 +1,72 @@
+{
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+ "primitive": "P11",
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diff --git a/actions/locomotion_primitives/P11/session_010/cameras/slam.npz b/actions/locomotion_primitives/P11/session_010/cameras/slam.npz
new file mode 100644
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   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260917/P11/20260917_072845_session118"
+ },
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+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ac71cdbdae3300e291594081755951bf4f7511ba
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_010/motions/hands_mano.npz
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@@ -0,0 +1,83 @@
+{
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+ "primitive": "P11",
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+}
diff --git a/actions/locomotion_primitives/P11/session_011/cameras/slam.npz b/actions/locomotion_primitives/P11/session_011/cameras/slam.npz
new file mode 100644
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index 6992adcd978bdde8d366c78649d577b1c26221e2..4eaf573eb5fb9dc0a87115cace138a5fe438153e 100644
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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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@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8782032434796646
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   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260918/P11/20260918_012616_session11"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_011/motions/hands_mano.npz
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+ "primitive": "P11",
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+}
diff --git a/actions/locomotion_primitives/P11/session_012/cameras/slam.npz b/actions/locomotion_primitives/P11/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f550eb4eb0a8408f6ee8c75ede2e8b8d7a69da31
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1053a5282d89349f4de67825137817068b6c2fcf4aacea884a7a1ed0e103ab67
+size 770880
diff --git a/actions/locomotion_primitives/P11/session_012/meta.json b/actions/locomotion_primitives/P11/session_012/meta.json
index 252148227b23926317e07c3feea88b7b241581f6..ff66df46f8a813b698209e39f17fbb8457489f31 100644
--- a/actions/locomotion_primitives/P11/session_012/meta.json
+++ b/actions/locomotion_primitives/P11/session_012/meta.json
@@ -339,8 +339,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -537,10 +537,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6456326618132242
  },
+ "hands_registration": {
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+     "p90": 33.18
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+    "accepted": 2445,
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+    "per_camera": {
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+      "gate_deg": 30.0,
+      "offset_deg": 16.11,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 129.9
+     }
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+     "mean_hand": 316,
+     "no_body_fit": 8
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.59
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-03T22:46:51.282991+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/P11/session_012",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260921/P11/20260921_011148_session12"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1893eb3a30e7dadf13ea29c713df9d0f085a6755
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd064c48c7c672cafa5022646764c985f131e3a782b8dd8ebfe90af576e7071a
+size 3655760
diff --git a/actions/locomotion_primitives/P11/session_012/motions/smplx.npz b/actions/locomotion_primitives/P11/session_012/motions/smplx.npz
index dc9eb371d74f4bf9ddb4b98703ad929393a48ee3..43693227bf109d65626c92ee0cdbe9e3bedc9ec1 100644
--- a/actions/locomotion_primitives/P11/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f6cef5156a84885f7846f90285cfdb6cfacbcd02031f98047dfa9c363313f494
-size 6194255
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diff --git a/actions/locomotion_primitives/P11/session_013/annotations.json b/actions/locomotion_primitives/P11/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..59b5889202fa48049a723a215c53b2e08e8fbc5b
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_013/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
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+  }
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+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8fd87f5487ce3d5ac9b11c55a96c47094feea8b
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,261 @@
+{
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+ },
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+  "right_front-right_eye": 0.734
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+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P11/session_013/cameras/slam.npz b/actions/locomotion_primitives/P11/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a83f123728643aa0d6c9d3bd30f21970de5a351
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c99e9fe3ea6ce0ecf97568a694724d4bd4cabedb2a001a3b7111bb523ff5ecd
+size 996342
diff --git a/actions/locomotion_primitives/P11/session_013/meta.json b/actions/locomotion_primitives/P11/session_013/meta.json
index 22740715327df9c0b44610da863d7bd229e9f0e3..da88b251cc67ac3337b6d6749c9edcda2fc58d3e 100644
--- a/actions/locomotion_primitives/P11/session_013/meta.json
+++ b/actions/locomotion_primitives/P11/session_013/meta.json
@@ -341,8 +341,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -544,10 +544,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.11785374380458
  },
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+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260923/P11/20260923_071606_session53"
+ },
+ "task": {
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+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..10f94f85782453120e694183ece989ea91ff9c46
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffcd6242fb9927e572763f6a5b950a3b6cdbceae32d8ef889e43c63b95ddfe39
+size 4323747
diff --git a/actions/locomotion_primitives/P11/session_013/motions/smplx.npz b/actions/locomotion_primitives/P11/session_013/motions/smplx.npz
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+++ b/actions/locomotion_primitives/P11/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..55795cbde92e812a7651a7e51696fbc646dbb99f
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_014/annotations.json
@@ -0,0 +1,171 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_014/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_014/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d92273441dba6b0070c0fc31b900672af751ec
--- /dev/null
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@@ -0,0 +1,261 @@
+{
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+ "factory_root_name": "e17c9efadb69e7b1",
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P11/session_014/cameras/slam.npz b/actions/locomotion_primitives/P11/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e3df11b329b8434f7114b2da352ffb593b2670b0
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69833b33e168a2c54ce7a79124b5059c79a859fa1f4c9fe648bda1d76a8e647c
+size 1573066
diff --git a/actions/locomotion_primitives/P11/session_014/meta.json b/actions/locomotion_primitives/P11/session_014/meta.json
index 24bb212a7a780920574bab9029c85bdb80294dc3..0cbcd47cdc1e830779222617bf9f452f0758df3b 100644
--- a/actions/locomotion_primitives/P11/session_014/meta.json
+++ b/actions/locomotion_primitives/P11/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",
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@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+    "palm_axis_vs_markers_deg": {
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+  "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": {
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   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260928/P11/20260928_072811_session25"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_014/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_014/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..48738ee41e31279f6cf17a44fe1c19dfdd1a72c9
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_014/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a977e39443be2df99ecb3d537c562694d9c4bbd9809266c273894fdc8fbe8560
+size 5451774
diff --git a/actions/locomotion_primitives/P11/session_014/motions/smplx.npz b/actions/locomotion_primitives/P11/session_014/motions/smplx.npz
index 42b9b7b774a566f5b59e643a85982dedb7124b80..8209cf88e4cad36e0e23c3fa0e5e8b0e4815c89d 100644
--- a/actions/locomotion_primitives/P11/session_014/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_014/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/P11/session_015/annotations.json b/actions/locomotion_primitives/P11/session_015/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc8ee47ad589266d05affbe2a303f521fad4fa8
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_015/annotations.json
@@ -0,0 +1,215 @@
+{
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+ "source": "vendor annotation.json (schema 2, revision 1)",
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+ "primitive": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_015/cameras/slam.npz b/actions/locomotion_primitives/P11/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f9b9d4a9c97b2d029004828ee1545dcc3dc8bf2e
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66867f2d8e0cb5595113122fe18bda4d0de28c5478581f0ea631e86f57a4583f
+size 1455629
diff --git a/actions/locomotion_primitives/P11/session_015/meta.json b/actions/locomotion_primitives/P11/session_015/meta.json
index 7d0424255cc4cb19ad89651d8db789f33bb878d5..76786ffa13c7f1dc9db0bbb1589ff472194fd529 100644
--- a/actions/locomotion_primitives/P11/session_015/meta.json
+++ b/actions/locomotion_primitives/P11/session_015/meta.json
@@ -514,5 +514,9 @@
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20260929/P11/20260929_065739_session120"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eed130609fd1ff74b0b5aeba2cfda1654da0388b
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8f29e5ca7302e0b853edd3b7ed84beb43e4f2bc1b35533cdb1ca48e7bc20ab
+size 6651103
diff --git a/actions/locomotion_primitives/P11/session_016/annotations.json b/actions/locomotion_primitives/P11/session_016/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..41538573dba2ee3cbd4f4cf964a98872dda38bf4
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_016/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": "P11",
+ "instruction": "Walk straight; turn around and walk back; use wide or tight turn.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 117.9667,
+   "video": "left_eye",
+   "video_t_start": 0.03969263021218937
+  }
+ ],
+ "episodes": [
+  {
+   "id": "7dbbb8c7-354b-411f-9a9d-de39e88ffc73",
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+   "action": "P11",
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+   "t_end": 18.3117,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
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+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
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+   "segment": "segment1",
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+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P11",
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+   "t_start": 78.0147,
+   "t_end": 91.3667,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P11",
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+   "end_s": 108.254,
+   "t_start": 94.8307,
+   "t_end": 108.2937,
+   "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P11/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P11/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cd61a956a973b1985d16bad6d7ef370fc96664c
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_016/cameras/gsi_online_calibration.json
@@ -0,0 +1,222 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.381
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.4258,
+   "gate_fail": [],
+   "held_out_px_after": 0.434,
+   "held_out_px_before": 19.183,
+   "inliers": 1753,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -1.3104,
+    -0.241,
+    -0.5076
+   ],
+   "split_deg": 0.0862,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3963,
+   "gate_fail": [],
+   "held_out_px_after": 0.448,
+   "held_out_px_before": 8.297,
+   "inliers": 2741,
+   "position_fitted": true,
+   "position_mm": [
+    1.73,
+    -29.76,
+    -3.57
+   ],
+   "position_sigma_mm": 0.292,
+   "position_split_mm": 3.124,
+   "rotvec_deg": [
+    1.6153,
+    -0.6945,
+    1.628
+   ],
+   "split_deg": 0.0778,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 3.1068,
+   "gate_fail": [],
+   "held_out_px_after": 0.498,
+   "held_out_px_before": 5.928,
+   "inliers": 1119,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.4799,
+    -1.0988,
+    2.5009
+   ],
+   "split_deg": 0.0269,
+   "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": 0.44,
+   "held_out_px_before": 4.921,
+   "inliers": 2509,
+   "position_fitted": true,
+   "position_mm": [
+    3.71,
+    -15.15,
+    -3.19
+   ],
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+   "position_split_mm": 1.976,
+   "rotvec_deg": [
+    2.0388,
+    -1.2356,
+    2.2881
+   ],
+   "split_deg": 0.0408,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.4334,
+   "gate_fail": [],
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+   "held_out_px_before": 2.62,
+   "inliers": 2762,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.2917,
+    -0.3205,
+    -0.0003
+   ],
+   "split_deg": 0.0154,
+   "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": "b566176b35142da7a595300a64abb594c6d8f6dd205875a55ffaa359cb29fc05",
+   "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "8a31ea6f9d17ae57af85e3e118c1bca881d1d464257bd0567e42cb31be0812f1",
+   "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "0ea4767ae6e0dc6a1b9cd7b6ef74fd6ae4f5e715ef2a0dc5abaa8062eab4b854",
+   "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fb4855f122cc44c83102b01edaf3b6e6f322e0430d62dbb2948b3aa15d45e319",
+   "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
+  }
+ },
+ "input_fingerprint": "fedeec9538e6c2b4",
+ "kind": "online_calibration",
+ "output_sha256": "fe24cc829d1f6a6d0f3626c4552785c234f0995dbbc94ea00f2b19db5cce16ee",
+ "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": 36.585,
+  "left_eye": 34.794,
+  "left_front": 34.639,
+  "right": 36.733,
+  "right_eye": 33.377,
+  "right_front": 32.411
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
+   5681744778000,
+   5682744778000,
+   5683744789111,
+   5684744778000,
+   5685744789111,
+   5686744778000,
+   5687744778000,
+   5688744866888,
+   5689744800222,
+   5690744789111,
+   5691744778000,
+   5692744811333,
+   5693744844666,
+   5694744822444,
+   5695744878000,
+   5696744800222,
+   5697744878000,
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+   5699744789111,
+   5700744800222,
+   5701744922444,
+   5702744789111,
+   5703744800222
+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P11/session_016/cameras/slam.npz b/actions/locomotion_primitives/P11/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..85d4e47a82cc16a1322e1f95e2863885e706dc54
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f1ab9425d6623c0fc212aa2f6f68c6474886f258775f102d2258e2318136e15
+size 679798
diff --git a/actions/locomotion_primitives/P11/session_016/meta.json b/actions/locomotion_primitives/P11/session_016/meta.json
index 3a9bf182a19c8e90e9c2ec9dd20b9d1908a6bfc2..6145f31421d18f18bdb4939f16c1f1897e10a1fc 100644
--- a/actions/locomotion_primitives/P11/session_016/meta.json
+++ b/actions/locomotion_primitives/P11/session_016/meta.json
@@ -379,8 +379,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -519,10 +519,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 22.02,
+    "offset_rotvec": [
+     0.3523,
+     -0.0712,
+     0.1362
+    ],
+    "dev_deg": {
+     "median": 20.15,
+     "p90": 29.56
+    },
+    "samples": 2438,
+    "accepted": 2211,
+    "wrist_pos_err_mm_median": 61.2,
+    "per_camera": {
+     "head": {
+      "samples": 2438,
+      "accepted": 2211,
+      "gate_deg": 30.0,
+      "offset_deg": 22.02,
+      "tier": "primary",
+      "dev_deg_median": 20.15,
+      "wrist_pos_err_mm_median": 61.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9133,
+     "interpolated": 4674,
+     "mean_hand": 349,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9748,
+    "observed_fraction_of_valid": 0.9753,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.4,
+     "smplx": 0.76
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 12.8,
+      "p90": 14.2
+     },
+     "registered": {
+      "median": 12.1,
+      "p90": 13.5
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 14.73,
+    "offset_rotvec": [
+     0.222,
+     -0.0938,
+     0.0893
+    ],
+    "dev_deg": {
+     "median": 20.39,
+     "p90": 57.11
+    },
+    "samples": 2810,
+    "accepted": 2040,
+    "wrist_pos_err_mm_median": 53.0,
+    "per_camera": {
+     "head": {
+      "samples": 2810,
+      "accepted": 2040,
+      "gate_deg": 30.0,
+      "offset_deg": 14.73,
+      "tier": "primary",
+      "dev_deg_median": 20.39,
+      "wrist_pos_err_mm_median": 53.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 8298,
+     "interpolated": 2886,
+     "mean_hand": 2972,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.7896,
+    "observed_fraction_of_valid": 0.7901,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.9,
+     "smplx": 0.95
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.2,
+      "p90": 9.0
+     },
+     "registered": {
+      "median": 7.2,
+      "p90": 8.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:47:11.751593+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/P11/session_016",
   "family": "locomotion_primitives",
   "primitive": "P11",
   "source_session": "20261016/P11/20261016_020928_session42"
+ },
+ "task": {
+  "primitive": "P11",
+  "instruction": "Walk straight; turn around and walk back; use wide or tight turn."
  }
 }
diff --git a/actions/locomotion_primitives/P11/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P11/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f9a2208a4502bc18ecba0b1ed01070c9a5867ce
--- /dev/null
+++ b/actions/locomotion_primitives/P11/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a6e8b0368a81c3aaebf568a092de89c97b60761294cd56cc37380878c10b5c
+size 3592318
diff --git a/actions/locomotion_primitives/P11/session_016/motions/smplx.npz b/actions/locomotion_primitives/P11/session_016/motions/smplx.npz
index a0c2f299375c19ee5c9371ed32d53bd61c1b775a..39a5667612b9a72f3c66519e009691f313e26fa2 100644
--- a/actions/locomotion_primitives/P11/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P11/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f2982c7f1a6494dc692973c15648ca2b7d7f12a2055a8c84b0ea73bafca30988
-size 5431922
+oid sha256:f557eec54b1ad83075ac710c60ab9066cae2622f18ccfd5175781c55935fa62e
+size 9766641
diff --git a/actions/locomotion_primitives/P12/session_001/annotations.json b/actions/locomotion_primitives/P12/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7006d7517b7b2425b105635d78f2ab8c6027efe
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P12",
+ "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966556,
+   "video": "left_eye",
+   "video_t_start": 0.03889746273980288
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P12",
+   "quality": "valid",
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+   "end_s": 10.522,
+   "t_start": 1.8439,
+   "t_end": 10.5609,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P12",
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+   "end_s": 23.082,
+   "t_start": 13.4369,
+   "t_end": 23.1209,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
+   "id": "ddb84836-75fa-4e4a-ab8c-ebdba95d3f1a",
+   "segment": "segment1",
+   "action": "P12",
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+   "end_s": 35.967,
+   "t_start": 26.4409,
+   "t_end": 36.0059,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P12",
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+   "t_start": 39.0129,
+   "t_end": 49.7229,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
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+   "segment": "segment1",
+   "action": "P12",
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e643afbcbb0311dd8cb0d330709fbff3253dc68a
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,262 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 175,
+    "median_px": 16.45,
+    "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": 0.9391,
+   "gate_fail": [],
+   "held_out_px_after": 0.565,
+   "held_out_px_before": 7.428,
+   "inliers": 1887,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.001,
+    0.8673,
+    0.3602
+   ],
+   "split_deg": 0.1242,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 2.811,
+   "inliers": 2956,
+   "position_fitted": true,
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+    7.06,
+    11.46
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+   "position_split_mm": 1.621,
+   "rotvec_deg": [
+    0.0778,
+    0.7424,
+    -0.8322
+   ],
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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": 2.26,
+   "inliers": 1673,
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+    -0.1555,
+    -0.1166
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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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+   "held_out_px_before": 1.953,
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+    8.14,
+    11.62
+   ],
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+   "position_split_mm": 3.163,
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+    0.1671,
+    0.3431,
+    -0.6538
+   ],
+   "split_deg": 0.0207,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_after": 0.328,
+   "held_out_px_before": 8.009,
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+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3235,
+    0.5805,
+    -1.8118
+   ],
+   "split_deg": 0.0185,
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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": "6783fc7ae454f06784e5f484974a46f1f64f0f142601a9f35191ca0bdb20dba9",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "821bcec832ef872fccd7ef57f648bb074abc04d120e087399b154341d2ead9a8",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "623f619674cdc6ac4b905832d126cfeb8e3658e54aeeba0e3b76182d8cd873d6",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
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+   "sha256": "0af6c12f6531681a4cfd69260ff6fca12bda671b9ec1c12f85ec9bca75af8e0e",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "b131ac673f8091f6",
+ "kind": "online_calibration",
+ "output_sha256": "94e4b4a158392383a0ca0fec1253a01143938dc56f0824b797d929ced3991868",
+ "overlap": {
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+  "left_eye-left": 0.707,
+  "left_eye-right": 0.685,
+  "left_front-left": 0.484,
+  "left_front-left_eye": 0.709,
+  "left_front-right": 0.464,
+  "left_front-right_eye": 0.711,
+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
+  "left": 43.629,
+  "left_eye": 44.581,
+  "left_front": 44.865,
+  "right": 40.667,
+  "right_eye": 46.361,
+  "right_front": 45.508
+ },
+ "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/P12/session_001/cameras/slam.npz b/actions/locomotion_primitives/P12/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..93866adebf34d4f2a9658eac4df66988d7a53943
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_001/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af28164637331b6d99f67830b57db890b8dbca53f3980e07f266f07b13cce466
+size 767865
diff --git a/actions/locomotion_primitives/P12/session_001/meta.json b/actions/locomotion_primitives/P12/session_001/meta.json
index a4073fda577ca95934a877bc4ed8f0ab0ddfcaaf..27f2c33ed5d960b397cd76ec5157f1ebb5f43272 100644
--- a/actions/locomotion_primitives/P12/session_001/meta.json
+++ b/actions/locomotion_primitives/P12/session_001/meta.json
@@ -332,8 +332,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -524,10 +524,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.24,
+    "offset_rotvec": [
+     -0.1674,
+     -0.2426,
+     -0.0604
+    ],
+    "dev_deg": {
+     "median": 7.7,
+     "p90": 17.12
+    },
+    "samples": 3759,
+    "accepted": 3676,
+    "wrist_pos_err_mm_median": 48.6,
+    "per_camera": {
+     "head": {
+      "samples": 3759,
+      "accepted": 3676,
+      "gate_deg": 30.0,
+      "offset_deg": 17.24,
+      "tier": "primary",
+      "dev_deg_median": 7.7,
+      "wrist_pos_err_mm_median": 48.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14854,
+     "interpolated": 1218,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 13.8,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 8.8
+     },
+     "registered": {
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+      "p90": 10.2
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0683,
+     0.1518
+    ],
+    "dev_deg": {
+     "median": 6.97,
+     "p90": 22.0
+    },
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+    "accepted": 3288,
+    "wrist_pos_err_mm_median": 37.9,
+    "per_camera": {
+     "head": {
+      "samples": 3482,
+      "accepted": 3288,
+      "gate_deg": 30.0,
+      "offset_deg": 11.73,
+      "tier": "primary",
+      "dev_deg_median": 6.97,
+      "wrist_pos_err_mm_median": 37.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13308,
+     "interpolated": 2356,
+     "mean_hand": 420,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9739,
+    "observed_fraction_of_valid": 0.9739,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.63,
+     "smplx": 0.97
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 7.8
+     },
+     "registered": {
+      "median": 7.7,
+      "p90": 8.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:29:15.519630+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/P12/session_001",
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260828/P12/20260828_061404_session16"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ff2a0746ea7fb89d951ca07f719848de6135d855
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1742c50b24fdc797632812304b0a0b8b9e77a6371ff763e0a90b553ca526618b
+size 4917132
diff --git a/actions/locomotion_primitives/P12/session_001/motions/smplx.npz b/actions/locomotion_primitives/P12/session_001/motions/smplx.npz
index 9a4b78bfdc064abdbb0b123809d3e0c3623b1da6..05b3f497048b7b577f71e4896a18648a2365c280 100644
--- a/actions/locomotion_primitives/P12/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1a340e65989f559b99955ea938e7279ad7e3d3912b9134e8d87681d798a3653f
-size 6174632
+oid sha256:c46c8b2e857289a83a5642bad53cc4e974da3236523aba527977a9ff6bdb1f21
+size 11532231
diff --git a/actions/locomotion_primitives/P12/session_002/annotations.json b/actions/locomotion_primitives/P12/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..915dd3f0bbe1007fa85c78bd5d370d88068cfe1b
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P12",
+ "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 133.966567,
+   "video": "left_eye",
+   "video_t_start": 0.038667676610276924
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P12",
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
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+   "t_end": 115.2897,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
+   "id": "8f720606-d479-462d-a640-5d74b6e7fc76",
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+   "end_s": 127.342,
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+   "t_end": 127.3807,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..92f3487aadf1eaeb09faf526e06b82b184878f03
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 199,
+    "median_px": 15.77,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.361
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.581,
+   "held_out_px_before": 7.222,
+   "inliers": 1859,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.0138,
+    0.8356,
+    0.377
+   ],
+   "split_deg": 0.1477,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 2.347,
+   "inliers": 3127,
+   "position_fitted": true,
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+    5.84,
+    12.0
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+   "position_split_mm": 1.671,
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+    0.0265,
+    0.7002,
+    -0.7952
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+   "split_deg": 0.0447,
+   "usable": true
+  },
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+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 2.263,
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+   "rotvec_deg": [
+    0.2628,
+    -0.1334,
+    -0.1296
+   ],
+   "split_deg": 0.0866,
+   "usable": true
+  },
+  "right_eye": {
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+    "left_front",
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+    "left_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 1.921,
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+    5.36,
+    9.74
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+   "position_split_mm": 2.346,
+   "rotvec_deg": [
+    0.116,
+    0.3546,
+    -0.643
+   ],
+   "split_deg": 0.0516,
+   "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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+    -0.317,
+    0.5481,
+    -1.8358
+   ],
+   "split_deg": 0.0043,
+   "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": "e0a7f2c64f160080ae8eb0965f79b0f302627ed90ed2974b301cbd7a2a1906d6",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "51dda57e6a6f96dd98fcf6125b020fae198a88be2cdb6edf3f16700b98fdd2fb",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "5cbb5bfe3688a036f8f038031b81cc0c0be10cc352a0e5088eac12e7b60a2397",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b68ddef4db59b26ef10845e13f0063fa8eebfac2122da828e5c37186d4527332",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "86347ff3c902d9ef",
+ "kind": "online_calibration",
+ "output_sha256": "576850154ca7b2523076418292bce48bf8eb0ae0e4a3f8148db3d56d749a1a86",
+ "overlap": {
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+  "left_front-left": 0.484,
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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": 39.511,
+  "left_eye": 32.47,
+  "left_front": 40.703,
+  "right": 38.411,
+  "right_eye": 34.964,
+  "right_front": 41.877
+ },
+ "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/P12/session_002/cameras/slam.npz b/actions/locomotion_primitives/P12/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4c8b9e73e0025d23601033f51d061479fc93d499
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5dd99bb770acadd0e4bb782d760e78ccc544c026ee1ee1347bfa5efafe30130
+size 769055
diff --git a/actions/locomotion_primitives/P12/session_002/meta.json b/actions/locomotion_primitives/P12/session_002/meta.json
index 0c4c3e176122fce3c16b498a97449254af211ba4..7b382c308e65d73beb5c785426f4c591d1609bb6 100644
--- a/actions/locomotion_primitives/P12/session_002/meta.json
+++ b/actions/locomotion_primitives/P12/session_002/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": {
@@ -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": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.2384,
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+    ],
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+     "p90": 20.35
+    },
+    "samples": 3749,
+    "accepted": 3606,
+    "wrist_pos_err_mm_median": 49.5,
+    "per_camera": {
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+      "accepted": 3606,
+      "gate_deg": 30.0,
+      "offset_deg": 16.98,
+      "tier": "primary",
+      "dev_deg_median": 8.45,
+      "wrist_pos_err_mm_median": 49.5
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 1480,
+     "mean_hand": 12,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 14.17,
+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
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+     },
+     "registered": {
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+     }
+    }
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+     "p90": 24.01
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+    "accepted": 2957,
+    "wrist_pos_err_mm_median": 51.5,
+    "per_camera": {
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+      "accepted": 2957,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 51.5
+     }
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+     "interpolated": 4008,
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+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.73
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 7.4
+     },
+     "registered": {
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+      "p90": 8.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:29:49.618762+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/P12/session_002",
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260828/P12/20260828_061635_session17"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51f53bf33b57c7a78130bc1324b295ff30a205c4
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a01bc25cfaa1f8096e4a8a11c4a1d0d910beb8cf41e4a9f3ab623ab15f5eb1a8
+size 4701450
diff --git a/actions/locomotion_primitives/P12/session_002/motions/smplx.npz b/actions/locomotion_primitives/P12/session_002/motions/smplx.npz
index a404ddd2eb61b0775ffad47dd89b65d133c53d06..8c1d01c083c822ec9c880dc5636752fdc9168889 100644
--- a/actions/locomotion_primitives/P12/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9f16229df7393ecc8d9f77ff8f3bea43b541ff3d09946c2ff31165728838354a
-size 6187567
+oid sha256:14b6c6fbaf0cd5105b7a6dc792a68f6340e3ea32cbfbb83b30c9d299738e7736
+size 11593227
diff --git a/actions/locomotion_primitives/P12/session_003/annotations.json b/actions/locomotion_primitives/P12/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b42d42169d37fe6430400dd197432e1b0e3fce74
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_003/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P12",
+ "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end.",
+ "segments": [
+  {
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+   "duration_s": 143.966689,
+   "video": "left_eye",
+   "video_t_start": 0.037841455087568567
+  }
+ ],
+ "episodes": [
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+   "action": "P12",
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+   "t_end": 11.4188,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
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+   "segment": "segment1",
+   "action": "P12",
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+   "t_start": 13.9248,
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P12",
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
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+  },
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+  },
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+   "t_end": 121.5508,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
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+   "t_end": 140.4078,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..6364abd19efa8a3ca090a2dd23766d1057ae3371
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,266 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 188,
+    "median_px": 23.7,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.357
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3824,
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+   "against": [
+    "left_front",
+    "right_front",
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+    "right_eye"
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+   "against": [
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+    "left_eye",
+    "left",
+    "right"
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+    5.92,
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+   "position_split_mm": 2.496,
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+    -0.6168
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+  },
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+   "against": [
+    "left_front",
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+    "right_eye",
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+  }
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+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+ },
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+  "left_front-right_front": 1.0,
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+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
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+ "picture_change": {
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+  "left_eye": 38.145,
+  "left_front": 44.708,
+  "right": 42.094,
+  "right_eye": 40.918,
+  "right_front": 44.887
+ },
+ "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/P12/session_003/cameras/slam.npz b/actions/locomotion_primitives/P12/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..95bd920d2e0238d90801e7a05f9204dcc4552b8c
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:912178275431655eb19e88ad7f1fc36748b4abd79a4b2f0447c31916a4d41251
+size 844780
diff --git a/actions/locomotion_primitives/P12/session_003/meta.json b/actions/locomotion_primitives/P12/session_003/meta.json
index bab146e0c5583c9a36311c7228d76358f1eb2a8b..9ad48847cf7656755d33d83517e51f7dc2e042e8 100644
--- a/actions/locomotion_primitives/P12/session_003/meta.json
+++ b/actions/locomotion_primitives/P12/session_003/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": {
@@ -518,10 +518,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     "p90": 19.46
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+    "accepted": 3530,
+    "wrist_pos_err_mm_median": 61.6,
+    "per_camera": {
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+      "accepted": 3530,
+      "gate_deg": 30.0,
+      "offset_deg": 15.13,
+      "tier": "primary",
+      "dev_deg_median": 7.9,
+      "wrist_pos_err_mm_median": 61.6
+     }
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+     "interpolated": 2649,
+     "mean_hand": 12,
+     "no_body_fit": 28
+    },
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+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.63,
+     "smplx": 2.11
+    },
+    "hand_marker_to_mesh_mm": {
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+    "accepted": 3240,
+    "wrist_pos_err_mm_median": 49.4,
+    "per_camera": {
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+      "tier": "primary",
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.02
+    },
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+     },
+     "registered": {
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+      "p90": 10.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T13:49:03.423020+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/P12/session_003",
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260904/P12/20260904_055746_session7"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a2688dece758af053e86aec7f2e008db9fee0d76
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf96ef5a9abdd9cafafa03a76b813c0b094ef2c14a7497d8afa66066207c42bb
+size 4917410
diff --git a/actions/locomotion_primitives/P12/session_003/motions/smplx.npz b/actions/locomotion_primitives/P12/session_003/motions/smplx.npz
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--- a/actions/locomotion_primitives/P12/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_003/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:46516ecf017eafae492b74e52496e1a9f708f3f950aa2ed62fbaca7cf0cd2a3b
-size 6648155
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+size 12446350
diff --git a/actions/locomotion_primitives/P12/session_004/annotations.json b/actions/locomotion_primitives/P12/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b367f40f29c5704895c633202fa9d890b7b44c
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_004/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P12",
+ "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end.",
+ "segments": [
+  {
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+   "video": "left_eye",
+   "video_t_start": 0.030604636073956443
+  }
+ ],
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_004/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_004/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e17a8b8c1a5debee64b3aad6aae5dc21c09a0a15
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_004/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
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+  "median_px": 0.314
+ },
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+   "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": 5.674,
+   "inliers": 3986,
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+    -0.2995
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+    "right_front",
+    "left_eye",
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+  }
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+  "right_front-left_eye": 0.723,
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+ },
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+  "left_front": 40.332,
+  "right": 42.378,
+  "right_eye": 34.295,
+  "right_front": 38.547
+ },
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+ "selection": {
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P12/session_004/cameras/slam.npz b/actions/locomotion_primitives/P12/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0d2f80119fe1a27a1212a353bdd1024b9224f99b
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20aca9f136fcb2c7955b9dc13424599576830a1701c52b61bcbce494b86b405a
+size 1172873
diff --git a/actions/locomotion_primitives/P12/session_004/meta.json b/actions/locomotion_primitives/P12/session_004/meta.json
index ea7dd2d929216011c53f366ae43ee28338fd2359..02b2e48cff4ffe20ad015e7174d44b684a5e2dd8 100644
--- a/actions/locomotion_primitives/P12/session_004/meta.json
+++ b/actions/locomotion_primitives/P12/session_004/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7498938789298177
  },
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+    "per_camera": {
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+      "tier": "primary",
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+     "interpolated": 7220,
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+    "observed_fraction_of_valid": 0.9539,
+    "palm_axis_vs_markers_deg": {
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+    },
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+      "tier": "primary",
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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": {
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   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260908/P12/20260908_013822_session13"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_004/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7a1f384a700e1f17c0083cc3dd0be9f7f85423f3
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_004/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:373f66a628f27ef26cd28d299e11ac801668a1f331f3159ef859bfa123ab67a3
+size 6513836
diff --git a/actions/locomotion_primitives/P12/session_004/motions/smplx.npz b/actions/locomotion_primitives/P12/session_004/motions/smplx.npz
index e7d3783c99e3ee6028bb981be48f41eccc43f379..4539bd0b14ac14a312eebe0ddf0ca6acc007eb24 100644
--- a/actions/locomotion_primitives/P12/session_004/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_004/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 9419493
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diff --git a/actions/locomotion_primitives/P12/session_005/annotations.json b/actions/locomotion_primitives/P12/session_005/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b282f1238289077cd6524dbc717ffaa062bce366
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_005/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P12",
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+   "video": "left_eye",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_005/cameras/slam.npz b/actions/locomotion_primitives/P12/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ee27950f4a97f80f8071bdecf2641969681506ff
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a96a219f2b4062b79f4486c47f1478bee1d2f3e240f7346d4f6766d2752b2e0
+size 1088933
diff --git a/actions/locomotion_primitives/P12/session_005/meta.json b/actions/locomotion_primitives/P12/session_005/meta.json
index a876d23c3e78dcddd19531d48bcdc64b499166eb..b4ddc62bc6183bd19d08bdb2145df3f813a7af40 100644
--- a/actions/locomotion_primitives/P12/session_005/meta.json
+++ b/actions/locomotion_primitives/P12/session_005/meta.json
@@ -342,8 +342,8 @@
   "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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@@ -523,10 +523,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.31213112976064483
  },
+ "hands_registration": {
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+    "accepted": 2155,
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+    "per_camera": {
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+      "accepted": 2155,
+      "gate_deg": 30.0,
+      "offset_deg": 15.51,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 144.4
+     }
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   "family": "locomotion_primitives",
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   "source_session": "20260908/P12/20260908_071831_session63"
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  }
 }
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P12/session_006/cameras/slam.npz b/actions/locomotion_primitives/P12/session_006/cameras/slam.npz
new file mode 100644
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--- /dev/null
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index 2947f6c17328e6f2844ae69b7c4717180803ccab..89ac6b68512ed323db2c76b5902e00917547b6f3 100644
--- a/actions/locomotion_primitives/P12/session_006/meta.json
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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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@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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+   "t_start": 183.1951,
+   "t_end": 195.1621,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_007/cameras/slam.npz b/actions/locomotion_primitives/P12/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..feada5d25376d0e6cf5ea01cadb105f63f1f8734
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0054ed343d59a6e7737e6a08faba012103fd5ef7a5cb66b4d8afffa54123559b
+size 1144241
diff --git a/actions/locomotion_primitives/P12/session_007/meta.json b/actions/locomotion_primitives/P12/session_007/meta.json
index cf5b5f0937d571fc70992e48814bb19315d9b7c1..090a1f282994e0dd8dcd788178011d1d11d5b444 100644
--- a/actions/locomotion_primitives/P12/session_007/meta.json
+++ b/actions/locomotion_primitives/P12/session_007/meta.json
@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6831139366653067
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 31.67,
+    "offset_rotvec": [
+     0.5077,
+     -0.1637,
+     0.1447
+    ],
+    "dev_deg": {
+     "median": 14.77,
+     "p90": 33.86
+    },
+    "samples": 3512,
+    "accepted": 2973,
+    "wrist_pos_err_mm_median": 157.5,
+    "per_camera": {
+     "head": {
+      "samples": 3512,
+      "accepted": 2973,
+      "gate_deg": 30.0,
+      "offset_deg": 31.67,
+      "tier": "primary",
+      "dev_deg_median": 14.77,
+      "wrist_pos_err_mm_median": 157.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12590,
+     "interpolated": 10810,
+     "mean_hand": 484,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9797,
+    "observed_fraction_of_valid": 0.9797,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 24.91,
+     "smplx": 0.27
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.7,
+      "p90": 8.8
+     },
+     "registered": {
+      "median": 5.3,
+      "p90": 6.4
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.1359,
+     0.2273,
+     0.1541
+    ],
+    "dev_deg": {
+     "median": 38.7,
+     "p90": 58.81
+    },
+    "samples": 2353,
+    "accepted": 838,
+    "wrist_pos_err_mm_median": 335.7,
+    "per_camera": {
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+      "accepted": 838,
+      "gate_deg": 30.0,
+      "offset_deg": 17.56,
+      "tier": "primary",
+      "dev_deg_median": 38.7,
+      "wrist_pos_err_mm_median": 335.7
+     }
+    },
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+     "interpolated": 4164,
+     "mean_hand": 16564,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.3065,
+    "observed_fraction_of_valid": 0.3065,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 46.52,
+     "smplx": 0.49
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 12.3
+     },
+     "registered": {
+      "median": 9.7,
+      "p90": 11.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:26:58.130428+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/P12/session_007",
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260912/P12/20260912_015831_session11"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..da820142add2d0b17b1c9696b169b90840c0a18b
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c800810c7b5e5f9ea35a19f58efb1889a2a734701ab5d47496860feaa431a2
+size 4188629
diff --git a/actions/locomotion_primitives/P12/session_007/motions/smplx.npz b/actions/locomotion_primitives/P12/session_007/motions/smplx.npz
index 610edfb764abd7438f48527b1bf97cafe16bed09..34e2565f0d3daac98dedeed68e0246dd816696d7 100644
--- a/actions/locomotion_primitives/P12/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c07d85857b5e820354aa1ed32ecee11faa42e0497f46a805416d028a718de3ab
-size 9219964
+oid sha256:f2717b1f15c99d50311b32d4667e3c54a08acf06d5981c901d84c81c6fb81281
+size 15266657
diff --git a/actions/locomotion_primitives/P12/session_008/annotations.json b/actions/locomotion_primitives/P12/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..45257d7a37aa896142dab50acd1fbdd30b2a62aa
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_008/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P12",
+ "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end.",
+ "segments": [
+  {
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+   "video": "left_eye",
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+  }
+ ],
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
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+   "action": "P12",
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+   "t_start": 50.7548,
+   "t_end": 74.0018,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 97.049,
+   "t_start": 77.2658,
+   "t_end": 97.0878,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P12",
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+   "t_start": 125.7588,
+   "t_end": 147.9018,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 196.269,
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+   "t_end": 196.3078,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a7cc478fa97012aae93f4ee4a792c0c6fcabd6
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.358
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.7776,
+   "gate_fail": [],
+   "held_out_px_after": 0.483,
+   "held_out_px_before": 2.965,
+   "inliers": 2923,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4349,
+    -0.2263,
+    -0.6036
+   ],
+   "split_deg": 0.0819,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9293,
+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 6.817,
+   "inliers": 3972,
+   "position_fitted": true,
+   "position_mm": [
+    3.16,
+    -10.68,
+    3.06
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+   "position_split_mm": 1.357,
+   "rotvec_deg": [
+    0.2319,
+    0.6106,
+    -1.8154
+   ],
+   "split_deg": 0.0514,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.012,
+   "gate_fail": [],
+   "held_out_px_after": 0.525,
+   "held_out_px_before": 3.699,
+   "inliers": 1231,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.9474,
+    -0.3025,
+    -0.187
+   ],
+   "split_deg": 0.115,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.796,
+   "gate_fail": [],
+   "held_out_px_after": 0.348,
+   "held_out_px_before": 3.152,
+   "inliers": 4395,
+   "position_fitted": true,
+   "position_mm": [
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+    -10.11,
+    4.44
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+   "position_sigma_mm": 0.258,
+   "position_split_mm": 0.551,
+   "rotvec_deg": [
+    0.4178,
+    -0.4933,
+    -0.4644
+   ],
+   "split_deg": 0.037,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.3482,
+   "gate_fail": [],
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+   "held_out_px_before": 5.612,
+   "inliers": 4523,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4461,
+    -0.0131,
+    -1.2722
+   ],
+   "split_deg": 0.015,
+   "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": "ce3a666d4720c0189979ba5905e77a76ec1d901f1d65ca9282eb0be450ede4a6",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "9f8a66937f40ef092533056f046ab5c2e47dbb539419aa472fa44c1a864629af",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "980745b5308247fb0abff8e7241bc794c8f065b661208dfabb77ee3374b6be4e",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "db7996e2ad21d6f6239fe7c7ca60a61dfa4f4da470c1bdad89f8203b287e7b35",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "cf65963aaf21685e",
+ "kind": "online_calibration",
+ "output_sha256": "e0a9a1799e974b709d8f2991531bc40b7dc8aeea121c7c13e575a2f4fa92d730",
+ "overlap": {
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+  "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": {
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+  "left_eye": 35.689,
+  "left_front": 39.666,
+  "right": 38.625,
+  "right_eye": 36.019,
+  "right_front": 38.52
+ },
+ "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/P12/session_008/cameras/slam.npz b/actions/locomotion_primitives/P12/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e707be6a0ed35a875eb31acf73d476ad6912ed18
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_008/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9a7fcd33431e100e4b1e86fc82b9386a33cbd2a2e1247ec8a90d185e498bdf
+size 1171559
diff --git a/actions/locomotion_primitives/P12/session_008/meta.json b/actions/locomotion_primitives/P12/session_008/meta.json
index 227ba41610688c43dc7f88c8b2d979d523d4d0a3..761bc869c3b4779cdfa517f4a1f0f1ffe05e1cac 100644
--- a/actions/locomotion_primitives/P12/session_008/meta.json
+++ b/actions/locomotion_primitives/P12/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": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8099295058549839
  },
+ "hands_registration": {
+  "cameras": {},
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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/P12/session_008",
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260912/P12/20260912_072858_session43"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4a1111ab1ddda8c646578fd33cdbb494b7d0336c
--- /dev/null
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@@ -0,0 +1,3 @@
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--- a/actions/locomotion_primitives/P12/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_008/motions/smplx.npz
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_009/annotations.json
@@ -0,0 +1,105 @@
+{
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diff --git a/actions/locomotion_primitives/P12/session_009/cameras/slam.npz b/actions/locomotion_primitives/P12/session_009/cameras/slam.npz
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P12/session_009/meta.json b/actions/locomotion_primitives/P12/session_009/meta.json
index b2e3b8b02c1e3eff6cca59e66f5a94d1d3fe9567..fc4df815be500a3e894914b82437f007231146e5 100644
--- a/actions/locomotion_primitives/P12/session_009/meta.json
+++ b/actions/locomotion_primitives/P12/session_009/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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@@ -505,10 +505,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.083725078895001
  },
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   "family": "locomotion_primitives",
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   "source_session": "20260917/P12/20260917_034803_session51"
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+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
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diff --git a/actions/locomotion_primitives/P12/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..75001bbbc52eb906b02619b07b449836dcf9ef45
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
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+   "against": [
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+    "right"
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+  },
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+   "role": "rig origin"
+  },
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+    -0.2943
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+    "left",
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+    -10.43,
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+   "rotvec_deg": [
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+    -0.4696,
+    -0.4744
+   ],
+   "split_deg": 0.012,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.0189,
+    -1.3046
+   ],
+   "split_deg": 0.0045,
+   "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": {
+   "sha256": "e90672eaf4d408b6b62c82abab1ce007627e7df2a3535fce8d718bc94b6896bf",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "12f601b4731ed86657c5f0928da5d2f212a6ca8bf24deddc878288566ac15b95",
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+  }
+ },
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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": {
+  "left": 36.98,
+  "left_eye": 27.67,
+  "left_front": 34.058,
+  "right": 36.899,
+  "right_eye": 26.62,
+  "right_front": 31.164
+ },
+ "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/P12/session_010/cameras/slam.npz b/actions/locomotion_primitives/P12/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df214d4e45b9f2c5d03907b96e18b9a98ffa6182
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f502982822092ae8ef22f40c382f4e027efd9f1bb14e98cfd8c4f9d4b2795ff4
+size 1201094
diff --git a/actions/locomotion_primitives/P12/session_010/meta.json b/actions/locomotion_primitives/P12/session_010/meta.json
index 9ad9101548ab9962092ea1f682690a08821535b1..b99beaca5afb1611a04dda5188f5cfd0ce620ccd 100644
--- a/actions/locomotion_primitives/P12/session_010/meta.json
+++ b/actions/locomotion_primitives/P12/session_010/meta.json
@@ -517,5 +517,9 @@
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260917/P12/20260917_074011_session120"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..bcda976a27f6f695d5ed3bd864368bcb8249e166
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0186148d2d8a21c62e0c117e05674895b6932bc6f5a6cf46c1797d9c72154b6d
+size 7857710
diff --git a/actions/locomotion_primitives/P12/session_011/annotations.json b/actions/locomotion_primitives/P12/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd9c7cd5fa6b9f152d6d7702dfe8f459211498d
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_011/annotations.json
@@ -0,0 +1,116 @@
+{
+ "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": "P12",
+ "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 173.966633,
+   "video": "left_eye",
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+  }
+ ],
+ "episodes": [
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
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+   "segment": "segment1",
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
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+   "segment": "segment1",
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+   "t_start": 105.5559,
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+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P12",
+   "quality": "valid",
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+   "t_start": 123.1289,
+   "t_end": 141.7949,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P12",
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+   "t_end": 165.4929,
+   "instruction": "Walk through 3–5 turns in sequence; keep moving; stop at end."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P12/session_011/cameras/slam.npz b/actions/locomotion_primitives/P12/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..963b4508cf8be05f371308b9199e70afa9f06a25
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0c1b366f69c6b17946701737c2b91f10608ba7f9c39f965fea33b36edda941c
+size 1000858
diff --git a/actions/locomotion_primitives/P12/session_011/meta.json b/actions/locomotion_primitives/P12/session_011/meta.json
index 431f9aaa4e8ea0e20a1bbfde08cec689e53d1f9e..5bd7d1d07c1e0908e6dad00f9a95c95beda8fd93 100644
--- a/actions/locomotion_primitives/P12/session_011/meta.json
+++ b/actions/locomotion_primitives/P12/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,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0287157105488263
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.84,
+    "offset_rotvec": [
+     0.2337,
+     -0.1289,
+     -0.1605
+    ],
+    "dev_deg": {
+     "median": 13.11,
+     "p90": 23.31
+    },
+    "samples": 2781,
+    "accepted": 2648,
+    "wrist_pos_err_mm_median": 178.8,
+    "per_camera": {
+     "head": {
+      "samples": 2781,
+      "accepted": 2648,
+      "gate_deg": 30.0,
+      "offset_deg": 17.84,
+      "tier": "primary",
+      "dev_deg_median": 13.11,
+      "wrist_pos_err_mm_median": 178.8
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11054,
+     "interpolated": 8850,
+     "mean_hand": 827,
+     "no_body_fit": 153
+    },
+    "observed_fraction": 0.9531,
+    "observed_fraction_of_valid": 0.9601,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.16,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.5,
+      "p90": 10.7
+     },
+     "registered": {
+      "median": 9.3,
+      "p90": 9.9
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.3,
+    "offset_rotvec": [
+     0.0365,
+     0.0702,
+     0.1417
+    ],
+    "dev_deg": {
+     "median": 21.37,
+     "p90": 32.35
+    },
+    "samples": 3195,
+    "accepted": 2789,
+    "wrist_pos_err_mm_median": 205.8,
+    "per_camera": {
+     "head": {
+      "samples": 3195,
+      "accepted": 2789,
+      "gate_deg": 30.0,
+      "offset_deg": 9.3,
+      "tier": "primary",
+      "dev_deg_median": 21.37,
+      "wrist_pos_err_mm_median": 205.8
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 8478,
+     "mean_hand": 719,
+     "no_body_fit": 153
+    },
+    "observed_fraction": 0.9582,
+    "observed_fraction_of_valid": 0.9653,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 17.54,
+     "smplx": 0.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.8,
+      "p90": 9.3
+     },
+     "registered": {
+      "median": 7.5,
+      "p90": 9.8
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:59:47.838963+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/P12/session_011",
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260918/P12/20260918_012947_session13"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_011/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a256ad190cc5e01b102660d297aaab4d0a472077
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_011/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279849aa593dadc8107dbff300d4476a01250e52f2b64854c92b0010b0758b31
+size 4221535
diff --git a/actions/locomotion_primitives/P12/session_011/motions/smplx.npz b/actions/locomotion_primitives/P12/session_011/motions/smplx.npz
index 43755e54a0eea243532143d141076b2129be0f8e..226601d3ef252c353bb2b8c14f33dad7507c537e 100644
--- a/actions/locomotion_primitives/P12/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P12/session_012/annotations.json b/actions/locomotion_primitives/P12/session_012/annotations.json
new file mode 100644
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diff --git a/actions/locomotion_primitives/P12/session_012/cameras/slam.npz b/actions/locomotion_primitives/P12/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f41c89907d980446dd20f84a53374c66a3009e3
--- /dev/null
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+size 1233159
diff --git a/actions/locomotion_primitives/P12/session_012/meta.json b/actions/locomotion_primitives/P12/session_012/meta.json
index cb754af801c93bd9e773f466d27418da5bf2cde5..1982727d48094ed50071cbcdff3283d6f882bc63 100644
--- a/actions/locomotion_primitives/P12/session_012/meta.json
+++ b/actions/locomotion_primitives/P12/session_012/meta.json
@@ -339,8 +339,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -536,10 +536,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7565611197775921
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   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260921/P12/20260921_011633_session13"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P12/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_012/motions/hands_mano.npz
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--- /dev/null
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--- a/actions/locomotion_primitives/P12/session_012/motions/smplx.npz
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index 0000000000000000000000000000000000000000..92626640537b777c5a526a67e5e5daa20c93d55a
--- /dev/null
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@@ -0,0 +1,105 @@
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diff --git a/actions/locomotion_primitives/P12/session_013/cameras/slam.npz b/actions/locomotion_primitives/P12/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5424f958fe720a5f5e6b185678ef610109094df2
--- /dev/null
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@@ -523,10 +523,124 @@
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  }
 }
diff --git a/actions/locomotion_primitives/P12/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_013/motions/hands_mano.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4322089
diff --git a/actions/locomotion_primitives/P12/session_013/motions/smplx.npz b/actions/locomotion_primitives/P12/session_013/motions/smplx.npz
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--- a/actions/locomotion_primitives/P12/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_013/motions/smplx.npz
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new file mode 100644
index 0000000000000000000000000000000000000000..e1e5ae46ad7bd20959f2e293cafa5ce893d4b5d0
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_014/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": "P12",
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+}
diff --git a/actions/locomotion_primitives/P12/session_014/cameras/slam.npz b/actions/locomotion_primitives/P12/session_014/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0a40610ffb3280526187b1575db6a071cd121008
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_014/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P12/session_014/meta.json b/actions/locomotion_primitives/P12/session_014/meta.json
index 40aa5f2a105116197cabb2da1478dec238de3271..44521f1d0cb24cb32fac457c60bdfd0ffecca8df 100644
--- a/actions/locomotion_primitives/P12/session_014/meta.json
+++ b/actions/locomotion_primitives/P12/session_014/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)",
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+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -526,10 +526,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0794798468310076
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+ },
  "release": {
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   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20260925/P12/20260925_004837_session8"
+ },
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+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
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+}
diff --git a/actions/locomotion_primitives/P12/session_015/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_015/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f85ae1f6f78e122a3267c027264ab7bfcc452d
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_015/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
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+  }
+ },
+ "input_fingerprint": "fcba5d1b440324f6",
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+  "left_front-right": 0.448,
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+  "left_front-right_front": 1.0,
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+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 31.486,
+  "left_front": 39.068,
+  "right": 37.472,
+  "right_eye": 30.733,
+  "right_front": 37.216
+ },
+ "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/P12/session_015/cameras/slam.npz b/actions/locomotion_primitives/P12/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..68188cc4ebda0e90862539c758fe8f27f01bf014
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:286751fe6d0fb7587363cacd41ff45ddaec748b9feaa492a58f6f8eb44a572be
+size 1144544
diff --git a/actions/locomotion_primitives/P12/session_015/meta.json b/actions/locomotion_primitives/P12/session_015/meta.json
index 227bc97796ce79e03da58e7ffa416dc7579a52bc..5695b7601adb828764c83e691274ea920f1f5803 100644
--- a/actions/locomotion_primitives/P12/session_015/meta.json
+++ b/actions/locomotion_primitives/P12/session_015/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,
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     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  },
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+    "palm_axis_vs_markers_deg": {
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+  "cameras_used": [
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+  "wrist_flip_suspect": []
+ },
  "release": {
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   "family": "locomotion_primitives",
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   "source_session": "20260928/P12/20260928_073353_session26"
+ },
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  }
 }
diff --git a/actions/locomotion_primitives/P12/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eac5b9f9e0f24fcd2b59551baa1e7f7ac9563c32
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:757157373eef4ebaf8aaec5dd1042e2e54830f2ccdd104942fa2328032eee3ca
+size 3623079
diff --git a/actions/locomotion_primitives/P12/session_015/motions/smplx.npz b/actions/locomotion_primitives/P12/session_015/motions/smplx.npz
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--- a/actions/locomotion_primitives/P12/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_015/motions/smplx.npz
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,105 @@
+{
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+}
diff --git a/actions/locomotion_primitives/P12/session_016/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P12/session_016/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..236fa34bead4ea43e401cc1a943b8a5f33eb5e69
--- /dev/null
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@@ -0,0 +1,217 @@
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+   5861707554444,
+   5862707587777
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+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P12/session_016/cameras/slam.npz b/actions/locomotion_primitives/P12/session_016/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eaed60c7d8a0b128a3a3b076f6e2b436301f330e
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_016/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1af683717cac9cce651eeffe2c1c8b6eabc9e0ce8d758efe74340270e455d7ab
+size 1021800
diff --git a/actions/locomotion_primitives/P12/session_016/meta.json b/actions/locomotion_primitives/P12/session_016/meta.json
index 23601e4763388f33e4741d356177207233ec8cb8..ad2f99044b00f09ecea3f56905f7c91e952a9745 100644
--- a/actions/locomotion_primitives/P12/session_016/meta.json
+++ b/actions/locomotion_primitives/P12/session_016/meta.json
@@ -392,8 +392,8 @@
   "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": {
@@ -542,10 +542,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.0931,
+     0.1796
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+     "median": 14.95,
+     "p90": 28.05
+    },
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+    "accepted": 4052,
+    "wrist_pos_err_mm_median": 72.6,
+    "per_camera": {
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+      "accepted": 4052,
+      "gate_deg": 30.0,
+      "offset_deg": 27.47,
+      "tier": "primary",
+      "dev_deg_median": 14.95,
+      "wrist_pos_err_mm_median": 72.6
+     }
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+     "interpolated": 3760,
+     "mean_hand": 1054,
+     "no_body_fit": 10
+    },
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.27
+    },
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+      "p90": 10.7
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+    "accepted": 3993,
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+    "per_camera": {
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+      "tier": "primary",
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+     }
+    }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:47:14.598319+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/P12/session_016",
   "family": "locomotion_primitives",
   "primitive": "P12",
   "source_session": "20261016/P12/20261016_021212_session43"
+ },
+ "task": {
+  "primitive": "P12",
+  "instruction": "Walk through 3\u20135 turns in sequence; keep moving; stop at end."
  }
 }
diff --git a/actions/locomotion_primitives/P12/session_016/motions/hands_mano.npz b/actions/locomotion_primitives/P12/session_016/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..30394f76e05a2e98f367a2e93128c29a1aad2215
--- /dev/null
+++ b/actions/locomotion_primitives/P12/session_016/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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+size 6226412
diff --git a/actions/locomotion_primitives/P12/session_016/motions/smplx.npz b/actions/locomotion_primitives/P12/session_016/motions/smplx.npz
index 4d023add36c9d86eb478c46c46c3da6c5de4f8c3..f1848b7b490ef78668902879394725151780964e 100644
--- a/actions/locomotion_primitives/P12/session_016/motions/smplx.npz
+++ b/actions/locomotion_primitives/P12/session_016/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P13/session_001/annotations.json b/actions/locomotion_primitives/P13/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa55d68a5c724ce7cc686bf77e58ce402de9b9ce
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P13",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f6d442d07bf2254b910e32fa1867c7053aa0db
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
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+ },
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+   "usable": true
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diff --git a/actions/locomotion_primitives/P13/session_001/cameras/slam.npz b/actions/locomotion_primitives/P13/session_001/cameras/slam.npz
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diff --git a/actions/locomotion_primitives/P13/session_001/meta.json b/actions/locomotion_primitives/P13/session_001/meta.json
index 06e48e75dce0c3dc4fa9a70e9078a63959d1b64c..25021f9aa44408e04729c983d17d5aa73c0c4506 100644
--- a/actions/locomotion_primitives/P13/session_001/meta.json
+++ b/actions/locomotion_primitives/P13/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": {
@@ -531,10 +531,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 16.86,
+    "offset_rotvec": [
+     -0.1538,
+     -0.2465,
+     -0.0466
+    ],
+    "dev_deg": {
+     "median": 7.67,
+     "p90": 17.69
+    },
+    "samples": 3615,
+    "accepted": 3499,
+    "wrist_pos_err_mm_median": 45.5,
+    "per_camera": {
+     "head": {
+      "samples": 3615,
+      "accepted": 3499,
+      "gate_deg": 30.0,
+      "offset_deg": 16.86,
+      "tier": "primary",
+      "dev_deg_median": 7.67,
+      "wrist_pos_err_mm_median": 45.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 14161,
+     "interpolated": 1310,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.92,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.1,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 8.8
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 10.37,
+    "offset_rotvec": [
+     -0.082,
+     -0.0602,
+     0.1497
+    ],
+    "dev_deg": {
+     "median": 6.61,
+     "p90": 28.46
+    },
+    "samples": 3247,
+    "accepted": 2969,
+    "wrist_pos_err_mm_median": 37.7,
+    "per_camera": {
+     "head": {
+      "samples": 3247,
+      "accepted": 2969,
+      "gate_deg": 30.0,
+      "offset_deg": 10.37,
+      "tier": "primary",
+      "dev_deg_median": 6.61,
+      "wrist_pos_err_mm_median": 37.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12115,
+     "interpolated": 3356,
+     "mean_hand": 5,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.89,
+     "smplx": 0.79
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 8.0
+     },
+     "registered": {
+      "median": 6.9,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:30:20.331014+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/P13/session_001",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260828/P13/20260828_061922_session18"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..20775b844e7be799895f5c2b4187242876eba757
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f87e586fe502e3b5073e8182c92ceaf892aefb54220679f29ba211550c6006
+size 4674431
diff --git a/actions/locomotion_primitives/P13/session_001/motions/smplx.npz b/actions/locomotion_primitives/P13/session_001/motions/smplx.npz
index d18a68a7592814025b40422cb78e50429d6a3c8c..67bb711cf55fb860159b8f055594245385037dc8 100644
--- a/actions/locomotion_primitives/P13/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3a07cf5c115f252ea6b3a295c2ce7d345730a8e7fb8945964efbd87bfb258c90
-size 5963446
+oid sha256:c3a90ddab4208d2c009c78b6fa22ce1f9f54358df241a264fa162906a7813e6a
+size 11166200
diff --git a/actions/locomotion_primitives/P13/session_002/annotations.json b/actions/locomotion_primitives/P13/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1258ef76d15b5a9d5e4713b182894f4f016e454
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_002/annotations.json
@@ -0,0 +1,116 @@
+{
+ "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": "P13",
+ "instruction": "Walk one full figure-eight continuously at comfortable speed; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 123.966667,
+   "video": "left_eye",
+   "video_t_start": 0.03780874064440631
+  }
+ ],
+ "episodes": [
+  {
+   "id": "669fde42-9386-44d9-aafd-c6da4c724098",
+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 11.744,
+   "t_start": 0.8958,
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
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+   "end_s": 24.078,
+   "t_start": 12.4258,
+   "t_end": 24.1158,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 36.862,
+   "t_start": 24.6808,
+   "t_end": 36.8998,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P13",
+   "quality": "valid",
+   "start_s": 37.508,
+   "end_s": 49.487,
+   "t_start": 37.5458,
+   "t_end": 49.5248,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "c289b3e0-3369-4cbb-84ac-fb4b89b2667a",
+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 63.271,
+   "t_start": 50.4728,
+   "t_end": 63.3088,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "b4735c41-c361-4401-948a-7785f48890f2",
+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 77.535,
+   "t_start": 64.1158,
+   "t_end": 77.5728,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "f04660df-58e1-4a88-aaa8-71e015a5373c",
+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 91.534,
+   "t_start": 78.1328,
+   "t_end": 91.5718,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "9c193ec9-eaae-4998-8456-6f5018f6ab18",
+   "segment": "segment1",
+   "action": "P13",
+   "quality": "valid",
+   "start_s": 92.331,
+   "end_s": 105.262,
+   "t_start": 92.3688,
+   "t_end": 105.2998,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "e07a8c04-e8ea-408a-b215-3dd8864c9c4b",
+   "segment": "segment1",
+   "action": "P13",
+   "quality": "valid",
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+   "end_s": 117.582,
+   "t_start": 106.1258,
+   "t_end": 117.6198,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75d01c9156f336f800fe430b7ce71778c5d2151
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 123,
+    "median_px": 37.67,
+    "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": 0.8641,
+   "gate_fail": [],
+   "held_out_px_after": 0.467,
+   "held_out_px_before": 7.517,
+   "inliers": 2431,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.1184,
+    0.8,
+    0.3045
+   ],
+   "split_deg": 0.015,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.1121,
+   "gate_fail": [],
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+   "held_out_px_before": 2.91,
+   "inliers": 3351,
+   "position_fitted": true,
+   "position_mm": [
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+    9.96,
+    12.9
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+   "position_sigma_mm": 0.334,
+   "position_split_mm": 1.395,
+   "rotvec_deg": [
+    0.1426,
+    0.7205,
+    -0.8352
+   ],
+   "split_deg": 0.0742,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.437,
+   "gate_fail": [],
+   "held_out_px_after": 0.65,
+   "held_out_px_before": 2.24,
+   "inliers": 1476,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4101,
+    -0.1434,
+    -0.048
+   ],
+   "split_deg": 0.2096,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 2.159,
+   "inliers": 4033,
+   "position_fitted": true,
+   "position_mm": [
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+    11.36,
+    12.48
+   ],
+   "position_sigma_mm": 0.32,
+   "position_split_mm": 3.239,
+   "rotvec_deg": [
+    0.276,
+    0.2961,
+    -0.6769
+   ],
+   "split_deg": 0.0555,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9476,
+   "gate_fail": [],
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+   "held_out_px_before": 8.346,
+   "inliers": 5134,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.5686,
+    -1.8309
+   ],
+   "split_deg": 0.0118,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "sha256": "553f81f905ea2caa71c8947454de305eb2078d9780c0f02dc06225571e625b6f",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "6c98ccc3142a7881",
+ "kind": "online_calibration",
+ "output_sha256": "c37b600a54a7fc2ccef34914ec255077fa9843058c3f5162ca839357cf18af42",
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+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
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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": 30.128,
+  "left_front": 36.581,
+  "right": 34.291,
+  "right_eye": 30.192,
+  "right_front": 37.222
+ },
+ "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/P13/session_002/cameras/slam.npz b/actions/locomotion_primitives/P13/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..94f1c9aab81b96eefd567ff7b2df600df228ede1
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43f6546ca20c9d80b5455565bebec17acc7ce416ac05f68b5aca40d26e081f6b
+size 711635
diff --git a/actions/locomotion_primitives/P13/session_002/meta.json b/actions/locomotion_primitives/P13/session_002/meta.json
index 7c5823704876d62d90bad4680f0e7a408d23a2b5..fe003563e6e5ce648cb1f0a5e2ff94df595baf0e 100644
--- a/actions/locomotion_primitives/P13/session_002/meta.json
+++ b/actions/locomotion_primitives/P13/session_002/meta.json
@@ -332,8 +332,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -524,10 +524,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.17,
+    "offset_rotvec": [
+     -0.1521,
+     -0.2544,
+     -0.0441
+    ],
+    "dev_deg": {
+     "median": 7.97,
+     "p90": 18.16
+    },
+    "samples": 3440,
+    "accepted": 3345,
+    "wrist_pos_err_mm_median": 43.4,
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+  "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/P13/session_002",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260828/P13/20260828_062145_session19"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b352064647ae1cf676f0c9ce56d57f74dfff3aff
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b450677b3952c3ee8757fb1261c2261f4107943fccfec14893416bc38c8868fb
+size 4513543
diff --git a/actions/locomotion_primitives/P13/session_002/motions/smplx.npz b/actions/locomotion_primitives/P13/session_002/motions/smplx.npz
index b0c3ab06cb0417e0588fede2e5a6aa8fd01c229c..7352acec99c91cbbb1a3c5de603708221c7f5625 100644
--- a/actions/locomotion_primitives/P13/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 5727985
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diff --git a/actions/locomotion_primitives/P13/session_003/annotations.json b/actions/locomotion_primitives/P13/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3aef533af7015feb9f6da72d8e3680cf1d9406f
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_003/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..5876ef70e675518b294fd12cbdc82913a1e6c8a3
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
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+ },
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+    0.1441
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+   "usable": true
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+    "left",
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+   "position_fitted": true,
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+    0.0439,
+    0.3662,
+    -0.8066
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+   "split_deg": 0.0315,
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+  },
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+   "role": "rig origin"
+  },
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+   "against": [
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+    "right_front",
+    "left_eye",
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+    "right"
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+    "right_eye",
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+ },
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+ "device_id": "850a0e6aafa85fdf",
+ "factory_root_name": "850a0e6aafa85fdf",
+ "files": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+ },
+ "input_fingerprint": "11b6ac9a78f49271",
+ "kind": "online_calibration",
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+  "right_front-right": 0.463,
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+  "right_front": 39.566
+ },
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+  "numpy": "2.4.6",
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+ },
+ "version": 1
+}
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diff --git a/actions/locomotion_primitives/P13/session_003/cameras/slam.npz b/actions/locomotion_primitives/P13/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8f5d99ee5c30bbbd42afe34ab9f56b3b37c5f7b
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f08502c667f7e187347fa8eb6f8b783e7d1ab1a360e2cb97a0d9d5e197446be5
+size 742045
diff --git a/actions/locomotion_primitives/P13/session_003/meta.json b/actions/locomotion_primitives/P13/session_003/meta.json
index 3632c28606f17b005befc022a4230bf950babcd0..40ba2a1c4b1df5dbf075b5d4d240c22d4f7f998c 100644
--- a/actions/locomotion_primitives/P13/session_003/meta.json
+++ b/actions/locomotion_primitives/P13/session_003/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": {
@@ -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": 15.01,
+    "offset_rotvec": [
+     -0.1344,
+     -0.2187,
+     -0.0524
+    ],
+    "dev_deg": {
+     "median": 7.46,
+     "p90": 21.47
+    },
+    "samples": 3265,
+    "accepted": 3133,
+    "wrist_pos_err_mm_median": 67.5,
+    "per_camera": {
+     "head": {
+      "samples": 3265,
+      "accepted": 3133,
+      "gate_deg": 30.0,
+      "offset_deg": 15.01,
+      "tier": "primary",
+      "dev_deg_median": 7.46,
+      "wrist_pos_err_mm_median": 67.5
+     }
+    },
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+     "interpolated": 2573,
+     "mean_hand": 5,
+     "no_body_fit": 36
+    },
+    "observed_fraction": 0.9974,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.78,
+     "smplx": 1.65
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.9
+     },
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+     }
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+     -0.1768,
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+    ],
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+     "p90": 24.97
+    },
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+    "accepted": 3009,
+    "wrist_pos_err_mm_median": 40.9,
+    "per_camera": {
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+      "tier": "primary",
+      "dev_deg_median": 6.4,
+      "wrist_pos_err_mm_median": 40.9
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+     "interpolated": 3020,
+     "mean_hand": 5,
+     "no_body_fit": 36
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   "family": "locomotion_primitives",
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   "source_session": "20260904/P13/20260904_060035_session8"
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+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P13/session_004/cameras/slam.npz b/actions/locomotion_primitives/P13/session_004/cameras/slam.npz
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--- /dev/null
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diff --git a/actions/locomotion_primitives/P13/session_004/meta.json b/actions/locomotion_primitives/P13/session_004/meta.json
index 3c3ce2b7b5bbbf37a49baddc820ea2ea27e5096a..bef80dced1c302fce6dfb6ea0fed533d8fdc80ea 100644
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+++ b/actions/locomotion_primitives/P13/session_004/meta.json
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@@ -506,10 +506,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  }
 }
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+    -0.2518
+   ],
+   "split_deg": 0.0783,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
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+   "held_out_px_before": 4.844,
+   "inliers": 5331,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2535,
+    -0.1315,
+    -1.0184
+   ],
+   "split_deg": 0.0138,
+   "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": "cba838ae4bbe48e714020502e3aa465bc3948d3ec69f313560d94da1be3342ff",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "6d95e07f816a7836c2e075b68aabae4c6523ae30b1cc5310ae04b42fb2769198",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "0f1ca1da83dd4c85",
+ "kind": "online_calibration",
+ "output_sha256": "93e356d04d2b5b3a7a08eb48b4e2e39b814e9686438001f8a06f89c3cb6a0983",
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+  "left_eye-right": 0.671,
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+  "right_eye-left": 0.696,
+  "right_eye-left_eye": 1.0,
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_eye": 37.108,
+  "left_front": 39.745,
+  "right": 40.603,
+  "right_eye": 37.062,
+  "right_front": 38.541
+ },
+ "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/P13/session_005/cameras/slam.npz b/actions/locomotion_primitives/P13/session_005/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f79cb960256358bd4943c1d798df53c694826cc9
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_005/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:157647743169f6d8312d3fba13141e839273cb2e59903d4d86e2d147d49dd1fb
+size 1087937
diff --git a/actions/locomotion_primitives/P13/session_005/meta.json b/actions/locomotion_primitives/P13/session_005/meta.json
index 89cb8acaaf3a796dfcff40943bf4d2dd44bd05ae..6d45b57a45cc04b3eaa8db4def72d195130cb7d7 100644
--- a/actions/locomotion_primitives/P13/session_005/meta.json
+++ b/actions/locomotion_primitives/P13/session_005/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": {
@@ -511,10 +511,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1785618276326921
  },
+ "hands_registration": {
+  "cameras": {},
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+    "accepted": 3354,
+    "wrist_pos_err_mm_median": 56.6,
+    "per_camera": {
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+      "accepted": 3354,
+      "gate_deg": 30.0,
+      "offset_deg": 18.79,
+      "tier": "primary",
+      "dev_deg_median": 12.73,
+      "wrist_pos_err_mm_median": 56.6
+     }
+    },
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+     "interpolated": 8260,
+     "mean_hand": 552,
+     "no_body_fit": 8
+    },
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+    "observed_fraction_of_valid": 0.9757,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.62
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+    "hand_marker_to_mesh_mm": {
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+     "p90": 25.31
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+    "accepted": 4877,
+    "wrist_pos_err_mm_median": 91.0,
+    "per_camera": {
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+      "accepted": 4877,
+      "gate_deg": 30.0,
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+      "tier": "primary",
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+     "smplx": 0.43
+    },
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+      "p90": 7.0
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 8.4
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T14:57:45.040582+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/P13/session_005",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260908/P13/20260908_014222_session14"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_005/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cbd2ab49124d29c51971beba9ec82300c619483e
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_005/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93dad86e0fe9b82709e9dc437551f07f827a3d149186e7130438bec21bb6f606
+size 6035187
diff --git a/actions/locomotion_primitives/P13/session_005/motions/smplx.npz b/actions/locomotion_primitives/P13/session_005/motions/smplx.npz
index e9205679f6f224bc820d402d61caeee7a77dfed7..d16373f4507b1faf650e4306feba8caaf4e3cb43 100644
--- a/actions/locomotion_primitives/P13/session_005/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_005/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:f4c42e65189ddc5e59d232610a811d133bffa51fc94e8c16804ee959afe8e7e9
-size 8750966
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+size 16221269
diff --git a/actions/locomotion_primitives/P13/session_006/annotations.json b/actions/locomotion_primitives/P13/session_006/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e35e57045ce614a371cbcdf6ba5da861ca5966e9
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_006/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": "P13",
+ "instruction": "Walk one full figure-eight continuously at comfortable speed; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 93.966711,
+   "video": "left_eye",
+   "video_t_start": 0.03920825203762246
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
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+   "end_s": 14.586,
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+   "t_end": 14.6252,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
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+   "segment": "segment1",
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+   "t_start": 14.8902,
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "t_start": 27.0952,
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+  },
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "t_start": 63.8562,
+   "t_end": 74.1382,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "0c06c565-641b-401f-981b-e68df2531865",
+   "segment": "segment1",
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_006/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_006/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4df7bae0cd0dcdce50b21a7e0f7704454848c8
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_006/cameras/gsi_online_calibration.json
@@ -0,0 +1,265 @@
+{
+ "camera_fit": {
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+   {
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+    "median_px": 179.12,
+    "pair": [
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+     "right"
+    ]
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+  "median_px": 0.378
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 3.021,
+   "inliers": 2882,
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+    -0.3381,
+    -0.2778
+   ],
+   "split_deg": 0.0284,
+   "usable": true
+  },
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+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+   "position_mm": [
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+   "rotvec_deg": [
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+    0.5526,
+    -1.5551
+   ],
+   "split_deg": 0.018,
+   "usable": true
+  },
+  "left_front": {
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+  },
+  "right": {
+   "accepted": true,
+   "against": [
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+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+  },
+  "right_eye": {
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+   "against": [
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+   "position_mm": [
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+    1.28
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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": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "489995d713bbaa6223e97fe73a66d0e1954dea9b1af220b81f2f58ec027f0b10",
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+}
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new file mode 100644
index 0000000000000000000000000000000000000000..798bef52c77f37bedcb7c401065d7b5e2d03c8fd
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_006/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/actions/locomotion_primitives/P13/session_006/meta.json b/actions/locomotion_primitives/P13/session_006/meta.json
index 45b8d0d118e7f80067ab3e322cf2a5415e9aaf29..26e442e0436835380742ce4a29e474d0fd988120 100644
--- a/actions/locomotion_primitives/P13/session_006/meta.json
+++ b/actions/locomotion_primitives/P13/session_006/meta.json
@@ -327,8 +327,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -508,10 +508,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6491405876667702
  },
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   "family": "locomotion_primitives",
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   "source_session": "20260908/P13/20260908_095503_session106"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_006/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ea93300ef9029af41a3b7b5aa010758310f3120d
--- /dev/null
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@@ -0,0 +1,3 @@
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+size 2086968
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new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_007/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
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+}
diff --git a/actions/locomotion_primitives/P13/session_007/cameras/slam.npz b/actions/locomotion_primitives/P13/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..df958af423ec3bf6eef3e08bbc11aabefccc47af
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P13/session_007/meta.json b/actions/locomotion_primitives/P13/session_007/meta.json
index 7936ea97a1957fdcb11e44fa2f26cc21dbc2607b..82fa272f5fb24fec9e667ab7c4a20a89961bd330 100644
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+++ b/actions/locomotion_primitives/P13/session_007/meta.json
@@ -340,8 +340,8 @@
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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -533,10 +533,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.6956073788903004
  },
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+      "wrist_pos_err_mm_median": 154.9
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+    "palm_axis_vs_markers_deg": {
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   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260912/P13/20260912_020238_session12"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_007/motions/hands_mano.npz
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..710aa4910271c79ac8b5403083dad3819145ff41
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_008/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P13",
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+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_008/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_008/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd02b9be2cb005e59c0afa0fb54cd6cd94901249
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_008/cameras/gsi_online_calibration.json
@@ -0,0 +1,256 @@
+{
+ "camera_fit": {
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+  "groups_used": 14,
+  "median_px": 0.363
+ },
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+   "accepted": true,
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+    "left_front",
+    "right_front",
+    "left_eye",
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+   "held_out_px_before": 2.88,
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+   "usable": true
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+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
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+   "held_out_px_before": 6.668,
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+   "position_fitted": true,
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+    3.42,
+    -11.38,
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+    0.5711,
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+   "against": [
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+    "right_front",
+    "left_eye",
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+    -0.1473
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+    "left",
+    "right"
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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": "4885caa093df532c",
+ "kind": "online_calibration",
+ "output_sha256": "25c19910f0069c2922e9d17b165b093a209388cad8d748a4d06ae2374696f13c",
+ "overlap": {
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+  "left_front-right_front": 1.0,
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+  "right_front-left": 0.464,
+  "right_front-left_eye": 0.723,
+  "right_front-right": 0.466,
+  "right_front-right_eye": 0.734
+ },
+ "picture_change": {
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+  "left_front": 36.414,
+  "right": 41.979,
+  "right_eye": 31.643,
+  "right_front": 35.294
+ },
+ "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/P13/session_008/cameras/slam.npz b/actions/locomotion_primitives/P13/session_008/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8e90fb5d00f65ea5c552a26f971534cacb995c59
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_008/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/P13/session_008/meta.json b/actions/locomotion_primitives/P13/session_008/meta.json
index 72e7a42a9bc90a8506f2ecb9b438c4d2588438dc..c9e03a47b0b1864bea8a34c98a607ed78c798c10 100644
--- a/actions/locomotion_primitives/P13/session_008/meta.json
+++ b/actions/locomotion_primitives/P13/session_008/meta.json
@@ -327,8 +327,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.5965973879649342
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.195,
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+    "dev_deg": {
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+     "p90": 25.71
+    },
+    "samples": 3185,
+    "accepted": 2975,
+    "wrist_pos_err_mm_median": 45.4,
+    "per_camera": {
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+      "accepted": 2975,
+      "gate_deg": 30.0,
+      "offset_deg": 13.84,
+      "tier": "primary",
+      "dev_deg_median": 11.82,
+      "wrist_pos_err_mm_median": 45.4
+     }
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+     "interpolated": 4120,
+     "mean_hand": 421,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9748,
+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+     "p90": 33.55
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+    "accepted": 1996,
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+    "per_camera": {
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+      "accepted": 1996,
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+      "tier": "primary",
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+      "p90": 15.6
+     },
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+      "p90": 17.1
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T17:26:46.623238+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/P13/session_008",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260912/P13/20260912_091143_session59"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_008/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_008/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1defb78f99ed08c7c8b467afd086f36279711576
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_008/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dc43549808c7c0b6416c4e089b0a87ca436cb9f9828b7b59098536671f00f65
+size 3792625
diff --git a/actions/locomotion_primitives/P13/session_008/motions/smplx.npz b/actions/locomotion_primitives/P13/session_008/motions/smplx.npz
index a25f03f0ff53cfc32e32f5ed2ab4dfd528094a1f..04f3e39c64b1354cd80452624fcb7a7352633b54 100644
--- a/actions/locomotion_primitives/P13/session_008/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_008/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6429673
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diff --git a/actions/locomotion_primitives/P13/session_009/annotations.json b/actions/locomotion_primitives/P13/session_009/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..22eaf37f2f853c32ccc7912fd26304f5c6cd4b18
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_009/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P13",
+ "instruction": "Walk one full figure-eight continuously at comfortable speed; stop.",
+ "segments": [
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+   "duration_s": 138.966711,
+   "video": "left_eye",
+   "video_t_start": 0.038902125867360526
+  }
+ ],
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+   "segment": "segment1",
+   "action": "P13",
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+   "t_start": 1.3039,
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 29.143,
+   "t_start": 16.2289,
+   "t_end": 29.1819,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
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+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_009/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_009/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8afe6e596f283716db929c9909feee248f00e32
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_009/cameras/gsi_online_calibration.json
@@ -0,0 +1,258 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.37
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8831,
+   "gate_fail": [],
+   "held_out_px_after": 0.534,
+   "held_out_px_before": 4.129,
+   "inliers": 2598,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.325,
+    -0.2223,
+    -0.7904
+   ],
+   "split_deg": 0.1459,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.7455,
+   "gate_fail": [],
+   "held_out_px_after": 0.427,
+   "held_out_px_before": 4.706,
+   "inliers": 3126,
+   "position_fitted": true,
+   "position_mm": [
+    2.03,
+    -13.93,
+    7.51
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+   "position_split_mm": 6.739,
+   "rotvec_deg": [
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+    0.6178,
+    -1.6325
+   ],
+   "split_deg": 0.2792,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "inliers": 1958,
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+   "rotvec_deg": [
+    1.2442,
+    -0.1464,
+    0.1273
+   ],
+   "split_deg": 0.0862,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "inliers": 3089,
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+    7.48
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+    -0.4724,
+    -0.3009
+   ],
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+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "held_out_px_before": 5.285,
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+    0.0007,
+    -1.2788
+   ],
+   "split_deg": 0.0096,
+   "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": "bada165d31def9790cf73870e2504f00efef5f64f2bc532c2f4b90b0ac5e9140",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "408f4fd6adc1bfd7",
+ "kind": "online_calibration",
+ "output_sha256": "2cdbe385c99bcae9a4b244fe95813a7ef4e16dfef1413ffb4b43f860a1572bfa",
+ "overlap": {
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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": 27.564,
+  "left_front": 36.934,
+  "right": 30.109,
+  "right_eye": 27.669,
+  "right_front": 35.227
+ },
+ "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/P13/session_009/cameras/slam.npz b/actions/locomotion_primitives/P13/session_009/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..aeafe19a4f9c1cd9136b738516f0e6256563ea7e
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_009/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c41c9058ef22be79d4f7ba7604cd992529cac6a3b89b94536571669ebc65b7cf
+size 800998
diff --git a/actions/locomotion_primitives/P13/session_009/meta.json b/actions/locomotion_primitives/P13/session_009/meta.json
index 44e268f566022ae5611ddaa1180dfda1f7043a9f..e106d00040326558793e5b0eef98fdf8df8581cb 100644
--- a/actions/locomotion_primitives/P13/session_009/meta.json
+++ b/actions/locomotion_primitives/P13/session_009/meta.json
@@ -330,8 +330,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -515,10 +515,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0742671987704755
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 6.08,
+    "offset_rotvec": [
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+     0.0015,
+     -0.0073
+    ],
+    "dev_deg": {
+     "median": 8.45,
+     "p90": 15.21
+    },
+    "samples": 4011,
+    "accepted": 3959,
+    "wrist_pos_err_mm_median": 51.1,
+    "per_camera": {
+     "head": {
+      "samples": 4011,
+      "accepted": 3959,
+      "gate_deg": 30.0,
+      "offset_deg": 6.08,
+      "tier": "primary",
+      "dev_deg_median": 8.45,
+      "wrist_pos_err_mm_median": 51.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 15894,
+     "interpolated": 470,
+     "mean_hand": 305,
+     "no_body_fit": 15
+    },
+    "observed_fraction": 0.9808,
+    "observed_fraction_of_valid": 0.9817,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.1,
+     "smplx": 0.52
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 6.0
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+     "registered": {
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+      "p90": 8.3
+     }
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+     "p90": 27.36
+    },
+    "samples": 3445,
+    "accepted": 3210,
+    "wrist_pos_err_mm_median": 63.1,
+    "per_camera": {
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+      "accepted": 3210,
+      "gate_deg": 30.0,
+      "offset_deg": 16.29,
+      "tier": "primary",
+      "dev_deg_median": 13.52,
+      "wrist_pos_err_mm_median": 63.1
+     }
+    },
+    "frames_by_state": {
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+     "mean_hand": 325,
+     "no_body_fit": 15
+    },
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+    "observed_fraction_of_valid": 0.9805,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.27
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+    "hand_marker_to_mesh_mm": {
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+      "median": 7.3,
+      "p90": 7.9
+     },
+     "registered": {
+      "median": 7.3,
+      "p90": 8.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T23:03:32.954593+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/P13/session_009",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260917/P13/20260917_020805_session17"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_009/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_009/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..903ac0326dd2ce902f5516847b88d59852bcef4d
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_009/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0dfc5b689c51c51fc619988f1866078a18554ed3ac3d22a5bd5f016811ebc75
+size 5076848
diff --git a/actions/locomotion_primitives/P13/session_009/motions/smplx.npz b/actions/locomotion_primitives/P13/session_009/motions/smplx.npz
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--- a/actions/locomotion_primitives/P13/session_009/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_009/motions/smplx.npz
@@ -1,3 +1,3 @@
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-size 6439430
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diff --git a/actions/locomotion_primitives/P13/session_010/annotations.json b/actions/locomotion_primitives/P13/session_010/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..9170af722eca3b8feb0ff48afdc1aeb53ebfc935
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_010/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P13",
+ "instruction": "Walk one full figure-eight continuously at comfortable speed; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 113.966722,
+   "video": "left_eye",
+   "video_t_start": 0.03851170029130779
+  }
+ ],
+ "episodes": [
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+   "segment": "segment1",
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+   "end_s": 14.125,
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 105.894,
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a0028a97e937d5ae70937af051f71daf463021
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.357
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.8178,
+   "gate_fail": [],
+   "held_out_px_after": 0.466,
+   "held_out_px_before": 4.336,
+   "inliers": 2354,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3588,
+    -0.3091,
+    -0.6667
+   ],
+   "split_deg": 0.0454,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8904,
+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 6.203,
+   "inliers": 3231,
+   "position_fitted": true,
+   "position_mm": [
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+    -13.8,
+    6.38
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+   "position_split_mm": 3.602,
+   "rotvec_deg": [
+    0.0962,
+    0.6131,
+    -1.7857
+   ],
+   "split_deg": 0.0687,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "rotvec_deg": [
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+    -0.248,
+    -0.3433
+   ],
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+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
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+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
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+    -11.98,
+    4.48
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+    -0.4609,
+    -0.433
+   ],
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+  },
+  "right_front": {
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+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    0.0064,
+    -1.324
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+   "split_deg": 0.0269,
+   "usable": true
+  }
+ },
+ "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"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "e0a895d35e1e02064addad6676f320ae4fa270667b9a883283b72719981e4cf1",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "abcca6aad9d7e6de03f5006094790d73a25e6bed9059a107e555d3668917c6f8",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "dbd981be0aeb60f3e665038317f1cfce788a750af4b05c33c9adc6961342c699",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "f2f53bb1bb0ef8c1",
+ "kind": "online_calibration",
+ "output_sha256": "839337b29759573addf931788250fe9c98773de5b15818155e3d6b6f9b92a625",
+ "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": 34.348,
+  "left_eye": 29.351,
+  "left_front": 36.36,
+  "right": 33.893,
+  "right_eye": 28.348,
+  "right_front": 33.429
+ },
+ "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/P13/session_010/cameras/slam.npz b/actions/locomotion_primitives/P13/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3702fd55cf05450f12547c71695ad3429899c902
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_010/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32cc07ead05ae44c5d6538b0f574ee3555f856884fccbfc7b05aa239c00beabd
+size 656749
diff --git a/actions/locomotion_primitives/P13/session_010/meta.json b/actions/locomotion_primitives/P13/session_010/meta.json
index a8970be5660e79ef6a1eb318ddf4042e67979dfe..a68f7a337a82b3eb7f3d4ebb6df6f6c552230c2a 100644
--- a/actions/locomotion_primitives/P13/session_010/meta.json
+++ b/actions/locomotion_primitives/P13/session_010/meta.json
@@ -519,5 +519,9 @@
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260917/P13/20260917_074418_session121"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_010/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_010/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c338955a83e79cdf980fca9cd9225f27280a7e7e
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_010/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45d276edcbc40b79193dcc67e47f2ad2d85c11d8edc8b14f0abdb9e7b1e2c812
+size 4442054
diff --git a/actions/locomotion_primitives/P13/session_011/annotations.json b/actions/locomotion_primitives/P13/session_011/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc3a0a5011fe107110de767d8384311c67e2d9e9
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_011/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P13",
+ "instruction": "Walk one full figure-eight continuously at comfortable speed; stop.",
+ "segments": [
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+   "duration_s": 198.966656,
+   "video": "left_eye",
+   "video_t_start": 0.039079298437401766
+  }
+ ],
+ "episodes": [
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+  },
+  {
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+   "t_start": 103.1431,
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 155.361,
+   "t_start": 130.2151,
+   "t_end": 155.4001,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "bde528df-6d3d-4518-9574-a04dc130444c",
+   "segment": "segment1",
+   "action": "P13",
+   "quality": "valid",
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+   "end_s": 180.962,
+   "t_start": 156.0351,
+   "t_end": 181.0011,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "389fe422-c86c-44fc-8c5d-0ea1e2e74d9f",
+   "segment": "segment1",
+   "action": "P13",
+   "quality": "valid",
+   "start_s": 181.577,
+   "end_s": 191.858,
+   "t_start": 181.6161,
+   "t_end": 191.8971,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_011/cameras/slam.npz b/actions/locomotion_primitives/P13/session_011/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2e77a891389140881a49fbf05592f927268a856e
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_011/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1144472
diff --git a/actions/locomotion_primitives/P13/session_011/meta.json b/actions/locomotion_primitives/P13/session_011/meta.json
index dc6374ac2d80bb29eded97672d85b88b6f6d7fee..824862a15c13ab6546c1d1567842338ecb519460 100644
--- a/actions/locomotion_primitives/P13/session_011/meta.json
+++ b/actions/locomotion_primitives/P13/session_011/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": {
@@ -532,10 +532,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9276773550085802
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.44,
+    "offset_rotvec": [
+     0.1959,
+     -0.0725,
+     -0.141
+    ],
+    "dev_deg": {
+     "median": 10.44,
+     "p90": 19.34
+    },
+    "samples": 3402,
+    "accepted": 3295,
+    "wrist_pos_err_mm_median": 170.7,
+    "per_camera": {
+     "head": {
+      "samples": 3402,
+      "accepted": 3295,
+      "gate_deg": 30.0,
+      "offset_deg": 14.44,
+      "tier": "primary",
+      "dev_deg_median": 10.44,
+      "wrist_pos_err_mm_median": 170.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 13662,
+     "interpolated": 9658,
+     "mean_hand": 557,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9764,
+    "observed_fraction_of_valid": 0.9767,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.91,
+     "smplx": 0.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.0,
+      "p90": 11.9
+     },
+     "registered": {
+      "median": 9.5,
+      "p90": 10.9
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     -0.0083,
+     -0.0419,
+     0.1626
+    ],
+    "dev_deg": {
+     "median": 14.01,
+     "p90": 33.21
+    },
+    "samples": 3699,
+    "accepted": 3248,
+    "wrist_pos_err_mm_median": 171.9,
+    "per_camera": {
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+      "accepted": 3248,
+      "gate_deg": 30.0,
+      "offset_deg": 9.63,
+      "tier": "primary",
+      "dev_deg_median": 14.01,
+      "wrist_pos_err_mm_median": 171.9
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 9168,
+     "mean_hand": 1309,
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+    "observed_fraction": 0.9449,
+    "observed_fraction_of_valid": 0.9452,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.26
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.7
+     },
+     "registered": {
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+      "p90": 8.0
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:59:49.495809+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/P13/session_011",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260918/P13/20260918_013532_session15"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_011/motions/hands_mano.npz b/actions/locomotion_primitives/P13/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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+size 4961504
diff --git a/actions/locomotion_primitives/P13/session_011/motions/smplx.npz b/actions/locomotion_primitives/P13/session_011/motions/smplx.npz
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--- a/actions/locomotion_primitives/P13/session_011/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_011/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P13/session_012/annotations.json b/actions/locomotion_primitives/P13/session_012/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2e4c3acd4e3545d0d5d84eaa782ed01272fb82f
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_012/annotations.json
@@ -0,0 +1,105 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_012/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_012/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5a4cdb88b09308319c2ddbc2bc48a439307fd6
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_012/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 78.3,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
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+  "median_px": 0.396
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
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+    -0.4846,
+    -0.8723
+   ],
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    9.18
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+  "left_front": {
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+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+    -0.3559,
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+   "usable": true
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+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -13.37,
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+    -0.682
+   ],
+   "split_deg": 0.0322,
+   "usable": true
+  },
+  "right_front": {
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+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+    -0.2009,
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+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "sha256": "3007ffd8e137d06c2c43ff7525b528caa533aa68a9535d496f0571fef41c0430",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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+  },
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+   "sha256": "41a9a55227ae1991276bd6b5d8c62a91fe5bd5ee74425c8683b837637f936af4",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "153d3f7e7f8bd9ff",
+ "kind": "online_calibration",
+ "output_sha256": "9c76447b065aabda6374156b8609cd9384ebf12bcaf49931fd530004aad2c095",
+ "overlap": {
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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_front": 34.608,
+  "right": 26.566,
+  "right_eye": 24.05,
+  "right_front": 30.771
+ },
+ "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/P13/session_012/cameras/slam.npz b/actions/locomotion_primitives/P13/session_012/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..59c471164937f8446e16738869bc28bc81fcb878
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_012/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:788c849e582ad0f894a6764d90ec80fb65577e8d4ac18981f23e5a1a66092156
+size 915696
diff --git a/actions/locomotion_primitives/P13/session_012/meta.json b/actions/locomotion_primitives/P13/session_012/meta.json
index 5f60189abdec12446451ed0939ba4fa3085eecac..9e36174532ea9328d248ce4ce80a5f7d15b3e879 100644
--- a/actions/locomotion_primitives/P13/session_012/meta.json
+++ b/actions/locomotion_primitives/P13/session_012/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": {
@@ -521,10 +521,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0553899426232012
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_deg": 34.55,
+    "offset_rotvec": [
+     0.5337,
+     -0.2765,
+     -0.0468
+    ],
+    "dev_deg": {
+     "median": 13.73,
+     "p90": 31.23
+    },
+    "samples": 3140,
+    "accepted": 2784,
+    "wrist_pos_err_mm_median": 115.1,
+    "per_camera": {
+     "head": {
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+      "accepted": 2784,
+      "gate_deg": 30.0,
+      "offset_deg": 34.55,
+      "tier": "primary",
+      "dev_deg_median": 13.73,
+      "wrist_pos_err_mm_median": 115.1
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 7152,
+     "mean_hand": 209,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9886,
+    "observed_fraction_of_valid": 0.989,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 40.02,
+     "smplx": 0.51
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.2
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+     "registered": {
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+      "p90": 6.6
+     }
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+     0.2407
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+    "dev_deg": {
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+     "p90": 27.45
+    },
+    "samples": 2511,
+    "accepted": 2336,
+    "wrist_pos_err_mm_median": 108.9,
+    "per_camera": {
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+      "accepted": 2336,
+      "gate_deg": 30.0,
+      "offset_deg": 32.5,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 108.9
+     }
+    },
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+     "interpolated": 9122,
+     "mean_hand": 129,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.9928,
+    "observed_fraction_of_valid": 0.9932,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.66
+    },
+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.4
+     },
+     "registered": {
+      "median": 8.9,
+      "p90": 9.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:38:13.822316+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/P13/session_012",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260923/P13/20260923_072641_session56"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_012/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_012/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..719b75a16100b155749e8e9502dc23f92b784e85
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_012/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4df23627926900b04404f8f83a2344b385e2fdbe8a77b2dcc9070ce1c69253e
+size 3968430
diff --git a/actions/locomotion_primitives/P13/session_012/motions/smplx.npz b/actions/locomotion_primitives/P13/session_012/motions/smplx.npz
index 8e4e7602f3c3eb9fe604815f48524653d587e54b..6de8b6249ed99980506307fe48edccbdd559bb0e 100644
--- a/actions/locomotion_primitives/P13/session_012/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_012/motions/smplx.npz
@@ -1,3 +1,3 @@
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-oid sha256:f52f392c6203d50feb987bcc189001e46e549eb0196f14d0e445209a7935ee8e
-size 7342999
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diff --git a/actions/locomotion_primitives/P13/session_013/annotations.json b/actions/locomotion_primitives/P13/session_013/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04c4af081f5c441ee39610d59937672790a68d9
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_013/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": "P13",
+ "instruction": "Walk one full figure-eight continuously at comfortable speed; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 173.9667,
+   "video": "left_eye",
+   "video_t_start": 0.03924498011316735
+  }
+ ],
+ "episodes": [
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+   "action": "P13",
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+   "end_s": 17.605,
+   "t_start": 1.8702,
+   "t_end": 17.6442,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "a398c7d1-0390-403a-9c7b-736eda8a519f",
+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 33.204,
+   "t_start": 17.6442,
+   "t_end": 33.2432,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P13/session_013/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P13/session_013/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4c8d233146831ce70f404c9d19a379b5e9ccd7b
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_013/cameras/gsi_online_calibration.json
@@ -0,0 +1,259 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.376
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.0002,
+   "gate_fail": [],
+   "held_out_px_after": 0.533,
+   "held_out_px_before": 5.611,
+   "inliers": 1756,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.2449,
+    -0.3341,
+    -0.9103
+   ],
+   "split_deg": 0.0921,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3292,
+   "gate_fail": [],
+   "held_out_px_after": 0.401,
+   "held_out_px_before": 6.105,
+   "inliers": 3349,
+   "position_fitted": true,
+   "position_mm": [
+    1.52,
+    -9.96,
+    9.11
+   ],
+   "position_sigma_mm": 0.547,
+   "position_split_mm": 1.18,
+   "rotvec_deg": [
+    -0.1206,
+    0.8581,
+    -2.162
+   ],
+   "split_deg": 0.0253,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
+   ],
+   "delta_deg": 1.3554,
+   "gate_fail": [],
+   "held_out_px_after": 0.518,
+   "held_out_px_before": 5.108,
+   "inliers": 1875,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.238,
+    -0.3816,
+    -0.3988
+   ],
+   "split_deg": 0.1289,
+   "usable": true
+  },
+  "right_eye": {
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.9128,
+   "gate_fail": [],
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+   "held_out_px_before": 2.829,
+   "inliers": 3709,
+   "position_fitted": true,
+   "position_mm": [
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+    -11.42,
+    6.36
+   ],
+   "position_sigma_mm": 0.516,
+   "position_split_mm": 3.786,
+   "rotvec_deg": [
+    0.1064,
+    -0.3149,
+    -0.8502
+   ],
+   "split_deg": 0.0715,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+   "gate_fail": [],
+   "held_out_px_after": 0.332,
+   "held_out_px_before": 6.205,
+   "inliers": 4250,
+   "position_fitted": false,
+   "rotvec_deg": [
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+    -0.1182,
+    -2.0393
+   ],
+   "split_deg": 0.0079,
+   "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": "dc40840d61d7eec2403b53d7d612f368407fd49ea93578eced021b0a37c80511",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d5f6e2415a95fa5ada06e1168695114e6613173c3d1edc845eee37010749eeff",
+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "62a54cd4fdbf37f8ae314c5f9b93a08326a679bfb010b1807d89aec271da39ff",
+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "d22585ee979b4633c7aeea0872b472cec29dc5819534b1cd128d30174ce524c6",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "2697432e87b61a52",
+ "kind": "online_calibration",
+ "output_sha256": "5b994f36487fa9faeda1bc41e5247e34eb838c791870e509c436fa7f2022841b",
+ "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": 26.051,
+  "left_eye": 24.031,
+  "left_front": 35.337,
+  "right": 25.618,
+  "right_eye": 22.235,
+  "right_front": 32.358
+ },
+ "runtime": {
+  "numpy": "2.4.6",
+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
+  "overlap_captures": [
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+   8679683254555,
+   8682683332333,
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+  ]
+ },
+ "version": 1
+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P13/session_013/cameras/slam.npz b/actions/locomotion_primitives/P13/session_013/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f2517b93e3c3af94c6bb599e8fa58cffbb7e2b13
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_013/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d50f3589bf834f49e851cd485e2c2bad9e2f4f69561348f95b686e9e7508b9a1
+size 1001787
diff --git a/actions/locomotion_primitives/P13/session_013/meta.json b/actions/locomotion_primitives/P13/session_013/meta.json
index e21fd9b286f9277612856c03330fd3c7390331b6..4a236b96df9ace128aff5d2dd11e81738d5b7279 100644
--- a/actions/locomotion_primitives/P13/session_013/meta.json
+++ b/actions/locomotion_primitives/P13/session_013/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": {
@@ -510,10 +510,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.1429808759810685
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 42.19,
+    "offset_rotvec": [
+     0.58,
+     -0.4535,
+     -0.0053
+    ],
+    "dev_deg": {
+     "median": 16.26,
+     "p90": 31.89
+    },
+    "samples": 2861,
+    "accepted": 2490,
+    "wrist_pos_err_mm_median": 192.7,
+    "per_camera": {
+     "head": {
+      "samples": 2861,
+      "accepted": 2490,
+      "gate_deg": 30.0,
+      "offset_deg": 42.19,
+      "tier": "primary",
+      "dev_deg_median": 16.26,
+      "wrist_pos_err_mm_median": 192.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10280,
+     "interpolated": 7134,
+     "mean_hand": 3462,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.8338,
+    "observed_fraction_of_valid": 0.8342,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 42.07,
+     "smplx": 0.77
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.5,
+      "p90": 5.9
+     },
+     "registered": {
+      "median": 6.2,
+      "p90": 7.4
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.4074,
+     0.1778,
+     -0.0238
+    ],
+    "dev_deg": {
+     "median": 18.57,
+     "p90": 28.39
+    },
+    "samples": 1808,
+    "accepted": 1655,
+    "wrist_pos_err_mm_median": 424.2,
+    "per_camera": {
+     "head": {
+      "samples": 1808,
+      "accepted": 1655,
+      "gate_deg": 30.0,
+      "offset_deg": 25.5,
+      "tier": "primary",
+      "dev_deg_median": 18.57,
+      "wrist_pos_err_mm_median": 424.2
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 7546,
+     "mean_hand": 6492,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.6888,
+    "observed_fraction_of_valid": 0.689,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 26.58,
+     "smplx": 1.26
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.8,
+      "p90": 10.0
+     },
+     "registered": {
+      "median": 8.8,
+      "p90": 12.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:29:56.662308+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/P13/session_013",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20260928/P13/20260928_073800_session27"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_013/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_013/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fc0dc2860f78c80a21b2dd7bcf24b9fc09baa2be
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_013/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:332d6db35e88f33fb1985f7011170a8b2b3babd411e696b27d9b463069087dce
+size 3368487
diff --git a/actions/locomotion_primitives/P13/session_013/motions/smplx.npz b/actions/locomotion_primitives/P13/session_013/motions/smplx.npz
index 0201b94e37649b87bbef96e2cfbf0e27da4b5343..5c6d7c54397128252f1ce8507cb5384dc4bf6de9 100644
--- a/actions/locomotion_primitives/P13/session_013/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_013/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:822d8a13fcf99cf449dd655886554f1e07504ded0275134637c58ee9d7699db9
-size 8044967
+oid sha256:fc231ff1b27ac5e6030d9e9ae1e3817768df4fc59a149d98c0d9f05806ae834b
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diff --git a/actions/locomotion_primitives/P13/session_014/annotations.json b/actions/locomotion_primitives/P13/session_014/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..589bc3ada4809a48d31e42e5999d1462556a19ed
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_014/annotations.json
@@ -0,0 +1,138 @@
+{
+ "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": "P13",
+ "instruction": "Walk one full figure-eight continuously at comfortable speed; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 148.966633,
+   "video": "left_eye",
+   "video_t_start": 0.03903120894576073
+  }
+ ],
+ "episodes": [
+  {
+   "id": "32a676c5-b9d6-41b4-8ff3-32abb11343b7",
+   "segment": "segment1",
+   "action": "P13",
+   "quality": "valid",
+   "start_s": 1.661,
+   "end_s": 13.997,
+   "t_start": 1.7,
+   "t_end": 14.036,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "0ea9c7f1-79e7-4929-9021-1ff2bc52a53d",
+   "segment": "segment1",
+   "action": "P13",
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+   "end_s": 25.091,
+   "t_start": 14.761,
+   "t_end": 25.13,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "43c5ff8e-37ce-4e63-b90b-4ed7cec45d60",
+   "segment": "segment1",
+   "action": "P13",
+   "quality": "valid",
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+   "end_s": 35.411,
+   "t_start": 25.193,
+   "t_end": 35.45,
+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
+   "id": "f9e58a5d-cce0-4ce7-a1b4-43e707f8f66f",
+   "segment": "segment1",
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+   "t_start": 35.604,
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
+  },
+  {
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+   "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
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diff --git a/actions/locomotion_primitives/P13/session_014/cameras/slam.npz b/actions/locomotion_primitives/P13/session_014/cameras/slam.npz
new file mode 100644
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--- /dev/null
+++ b/actions/locomotion_primitives/P13/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/P13/session_014/meta.json b/actions/locomotion_primitives/P13/session_014/meta.json
index f01d241764b155c9decae16db724e084479873d4..16a4beb41c15108e35856b9f138f7913a7dce335 100644
--- a/actions/locomotion_primitives/P13/session_014/meta.json
+++ b/actions/locomotion_primitives/P13/session_014/meta.json
@@ -324,8 +324,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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@@ -505,10 +505,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4464233884564013
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  }
 }
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+   6118670857444,
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+   6120670901888,
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+ },
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P13/session_015/cameras/slam.npz b/actions/locomotion_primitives/P13/session_015/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9282d05e473f3e97352d8dee4109b3dc77761afa
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_015/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c83cf3988d93c82448851890336e96bbf4b84e4cadb035c92c3d82693be10898
+size 981048
diff --git a/actions/locomotion_primitives/P13/session_015/meta.json b/actions/locomotion_primitives/P13/session_015/meta.json
index d1928fc2f8e7cd707011d520b03a49eba3699a80..f9211e4d1421f234b45589404a8e4e6ea66a024f 100644
--- a/actions/locomotion_primitives/P13/session_015/meta.json
+++ b/actions/locomotion_primitives/P13/session_015/meta.json
@@ -390,8 +390,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -535,10 +535,124 @@
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     -0.1011,
+     0.1887
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+     "p90": 24.6
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+    "accepted": 4066,
+    "wrist_pos_err_mm_median": 56.2,
+    "per_camera": {
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+      "accepted": 4066,
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+      "offset_deg": 25.23,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 56.2
+     }
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+     "interpolated": 3646,
+     "mean_hand": 221,
+     "no_body_fit": 8
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+    "palm_axis_vs_markers_deg": {
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+    "accepted": 4195,
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+     }
+    }
+   }
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T21:47:14.606845+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/P13/session_015",
   "family": "locomotion_primitives",
   "primitive": "P13",
   "source_session": "20261016/P13/20261016_021559_session44"
+ },
+ "task": {
+  "primitive": "P13",
+  "instruction": "Walk one full figure-eight continuously at comfortable speed; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P13/session_015/motions/hands_mano.npz b/actions/locomotion_primitives/P13/session_015/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ee683bb762640636bda02c61f74035694e66af9
--- /dev/null
+++ b/actions/locomotion_primitives/P13/session_015/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 6118821
diff --git a/actions/locomotion_primitives/P13/session_015/motions/smplx.npz b/actions/locomotion_primitives/P13/session_015/motions/smplx.npz
index 26b5428b6d42919f4f7d8f328443da4893e1871e..b7d0838311eb45536fd0cc90a7690a7537fde33b 100644
--- a/actions/locomotion_primitives/P13/session_015/motions/smplx.npz
+++ b/actions/locomotion_primitives/P13/session_015/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P14/session_001/annotations.json b/actions/locomotion_primitives/P14/session_001/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c969447df4a4ac0b91708eeb30a81c50870fe29
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_001/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P14",
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+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P14/session_001/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_001/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..638a168be006e800159c0f1e4820c4ed37bb2d8b
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_001/cameras/gsi_online_calibration.json
@@ -0,0 +1,264 @@
+{
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+}
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diff --git a/actions/locomotion_primitives/P14/session_001/cameras/slam.npz b/actions/locomotion_primitives/P14/session_001/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cddbb41c7a1b838aaf58bff448da6bf61679b11a
--- /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/P14/session_001/meta.json b/actions/locomotion_primitives/P14/session_001/meta.json
index 318517e60809d6f65055774657e47ebc8e30dc93..08b3f9625da6664c2ffbaeefe003a3aa3c7d7704 100644
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+++ b/actions/locomotion_primitives/P14/session_001/meta.json
@@ -332,8 +332,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -513,10 +513,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 18.27,
+    "offset_rotvec": [
+     -0.1543,
+     -0.2753,
+     -0.046
+    ],
+    "dev_deg": {
+     "median": 9.19,
+     "p90": 20.14
+    },
+    "samples": 3007,
+    "accepted": 2869,
+    "wrist_pos_err_mm_median": 70.1,
+    "per_camera": {
+     "head": {
+      "samples": 3007,
+      "accepted": 2869,
+      "gate_deg": 30.0,
+      "offset_deg": 18.27,
+      "tier": "primary",
+      "dev_deg_median": 9.19,
+      "wrist_pos_err_mm_median": 70.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11570,
+     "interpolated": 706,
+     "mean_hand": 208,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9833,
+    "observed_fraction_of_valid": 0.9833,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.34,
+     "smplx": 0.65
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.0,
+      "p90": 8.2
+     },
+     "registered": {
+      "median": 8.0,
+      "p90": 8.7
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 9.11,
+    "offset_rotvec": [
+     -0.0825,
+     -0.0163,
+     0.1349
+    ],
+    "dev_deg": {
+     "median": 7.84,
+     "p90": 28.64
+    },
+    "samples": 3054,
+    "accepted": 2767,
+    "wrist_pos_err_mm_median": 77.2,
+    "per_camera": {
+     "head": {
+      "samples": 3054,
+      "accepted": 2767,
+      "gate_deg": 30.0,
+      "offset_deg": 9.11,
+      "tier": "primary",
+      "dev_deg_median": 7.84,
+      "wrist_pos_err_mm_median": 77.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11168,
+     "interpolated": 612,
+     "mean_hand": 704,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9436,
+    "observed_fraction_of_valid": 0.9436,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 8.96,
+     "smplx": 0.72
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.7,
+      "p90": 12.1
+     },
+     "registered": {
+      "median": 9.4,
+      "p90": 12.5
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T12:30:21.927347+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/P14/session_001",
   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20260828/P14/20260828_062617_session21"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_001/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_001/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a51b7fb4dd3024ac071100edf103168f744cdbf1
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_001/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b841439395906d0c6c75c00f5f980ffea31f9f7f885aa715806887eef31d2b9a
+size 4073669
diff --git a/actions/locomotion_primitives/P14/session_001/motions/smplx.npz b/actions/locomotion_primitives/P14/session_001/motions/smplx.npz
index 799f5d1e0e9bc5a543b5cb3b7d5c91cfb9075089..5bba917f18bb7f0c74c2aad6d63c51108ba0a433 100644
--- a/actions/locomotion_primitives/P14/session_001/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_001/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:464049468db3f28c541788b9ffcc434bfc5358fa211edafef32ebac726729636
-size 4760237
+oid sha256:c26e5df70d17ec209ff46b890c1ef5404f1a98b4b421976305136d4ee9b8b0a2
+size 8843969
diff --git a/actions/locomotion_primitives/P14/session_002/annotations.json b/actions/locomotion_primitives/P14/session_002/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..8595f33109377b2591c752250c17af514d8c08b5
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_002/annotations.json
@@ -0,0 +1,127 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 1, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
+ "segments": [
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+   "duration_s": 93.966578,
+   "video": "left_eye",
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+  }
+ ],
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+  },
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+   "t_end": 40.9949,
+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "t_start": 41.7789,
+   "t_end": 50.2029,
+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
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+   "segment": "segment1",
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
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+   "segment": "segment1",
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
+  {
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+   "end_s": 79.352,
+   "t_start": 70.5339,
+   "t_end": 79.3909,
+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
+  {
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+   "segment": "segment1",
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+   "end_s": 88.508,
+   "t_start": 80.2019,
+   "t_end": 88.5469,
+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P14/session_002/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_002/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa904b923f554f1db9c48ad114bbd9267134977c
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_002/cameras/gsi_online_calibration.json
@@ -0,0 +1,269 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
+    "matches": 145,
+    "median_px": 628.51,
+    "pair": [
+     "left",
+     "right"
+    ]
+   }
+  ],
+  "groups_used": 14,
+  "median_px": 0.393
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.2019,
+   "gate_fail": [],
+   "held_out_px_after": 0.737,
+   "held_out_px_before": 1.449,
+   "inliers": 334,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.0933,
+    1.0615,
+    0.5561
+   ],
+   "split_deg": 0.1403,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.7148,
+   "gate_fail": [],
+   "held_out_px_after": 0.378,
+   "held_out_px_before": 2.495,
+   "inliers": 3991,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     -8.94,
+     6.31,
+     6.88
+    ],
+    "position_sigma_mm": 0.413,
+    "position_split_mm": 10.867
+   },
+   "rotvec_deg": [
+    0.1048,
+    0.4524,
+    -0.5435
+   ],
+   "split_deg": 0.039,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 0.3633,
+   "gate_fail": [],
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+   "held_out_px_before": 2.961,
+   "inliers": 3350,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.3602,
+    -0.0458,
+    0.0113
+   ],
+   "split_deg": 0.0372,
+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 0.436,
+   "gate_fail": [],
+   "held_out_px_after": 0.396,
+   "held_out_px_before": 2.435,
+   "inliers": 3310,
+   "position_fitted": false,
+   "position_rejected": {
+    "position_mm": [
+     -6.36,
+     9.9,
+     7.72
+    ],
+    "position_sigma_mm": 0.443,
+    "position_split_mm": 10.589
+   },
+   "rotvec_deg": [
+    0.1679,
+    0.1774,
+    -0.3611
+   ],
+   "split_deg": 0.0401,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.9737,
+   "gate_fail": [],
+   "held_out_px_after": 0.374,
+   "held_out_px_before": 9.253,
+   "inliers": 4971,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.3417,
+    0.5705,
+    -1.8583
+   ],
+   "split_deg": 0.016,
+   "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": "56ca6e1e49dd14349efaeeda7e2918612646f1fe88b73a22e4a441e57b51785e",
+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
+   "sha256": "b63b8262cbfcb5ed6990e12bdffacdfba3b791d7e221501a69939c6d56a9ffce",
+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
+  "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
+   "sha256": "fd7716eb84ab87dafbc440c7b60ce5e77f83508d12e3ad56bdee4e4740307993",
+   "source_sha256": "77ea0ac6b654e7e04fca851dbe8625a27e668aa1dc4ed77e5f84c1e7e183132a"
+  },
+  "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
+   "sha256": "ae043b496cd6874bd812a5f22c12b0bb6a36a7b04152383874a051900be3bcff",
+   "source_sha256": "2def4aea08c70bf34532c426e765914744735a4a405964eddc942ae036197eb3"
+  }
+ },
+ "input_fingerprint": "a4af0754338b717d",
+ "kind": "online_calibration",
+ "output_sha256": "f057092d8c803d84340c14f1a0d01f2e892a6f4bb4822d38c68ebbf76c4d3041",
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+  "left_front-right": 0.464,
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+  "left_front-right_front": 1.0,
+  "right_eye-left": 0.708,
+  "right_eye-left_eye": 1.0,
+  "right_eye-right": 0.668,
+  "right_front-left": 0.482,
+  "right_front-left_eye": 0.711,
+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "left_eye": 25.683,
+  "left_front": 32.997,
+  "right": 35.746,
+  "right_eye": 24.694,
+  "right_front": 32.252
+ },
+ "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/P14/session_002/cameras/slam.npz b/actions/locomotion_primitives/P14/session_002/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fb473b259b0dc8ed8e8ded6c07029db0e4d46e7e
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_002/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a89b00e272d42532d5d8dad3bdb572db4fb1f0944c55ec9c6634b2c5666b5b6c
+size 533064
diff --git a/actions/locomotion_primitives/P14/session_002/meta.json b/actions/locomotion_primitives/P14/session_002/meta.json
index 130aee9a21bb983389ed2c11020eb5bbbbb325c1..6a8d5bd2bb73a6dfd227174f9f0cd0af086bce2b 100644
--- a/actions/locomotion_primitives/P14/session_002/meta.json
+++ b/actions/locomotion_primitives/P14/session_002/meta.json
@@ -334,8 +334,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -515,10 +515,124 @@
   "file": "derived/rig_tracker_provider/rig_tracker.json",
   "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 17.36,
+    "offset_rotvec": [
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P14/session_002",
   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20260828/P14/20260828_062811_session22"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_002/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_002/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2fa3386962afe37c0e069094fd8bd0aefc18310
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_002/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3647303
diff --git a/actions/locomotion_primitives/P14/session_002/motions/smplx.npz b/actions/locomotion_primitives/P14/session_002/motions/smplx.npz
index a43a6873c77f5f7f17701789cd4c2f8914c60ce5..36e3c3164cfe7e41865c87218ae62100a9526c8d 100644
--- a/actions/locomotion_primitives/P14/session_002/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_002/motions/smplx.npz
@@ -1,3 +1,3 @@
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diff --git a/actions/locomotion_primitives/P14/session_003/annotations.json b/actions/locomotion_primitives/P14/session_003/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f3732d3f09154367b9f7e4b63474dbfcd55eb38
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_003/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P14",
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+  }
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P14/session_003/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_003/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e3d396a0a41576b594bb90aa8e01628afc13100
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_003/cameras/gsi_online_calibration.json
@@ -0,0 +1,268 @@
+{
+ "camera_fit": {
+  "groups_dropped": [
+   {
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+    "median_px": 20.04,
+    "pair": [
+     "left",
+     "right"
+    ]
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+  ],
+  "groups_used": 14,
+  "median_px": 0.363
+ },
+ "cameras": {
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+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
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+   "held_out_px_before": 6.747,
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+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
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+    -0.7761
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+   "role": "rig origin"
+  },
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+    "right_front",
+    "left_eye",
+    "right_eye"
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+  "right_eye": {
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+    "left",
+    "right"
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+   "position_fitted": true,
+   "position_mm": [
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+    8.03,
+    10.62
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+   "rotvec_deg": [
+    0.1746,
+    0.3856,
+    -0.6294
+   ],
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+   "usable": true
+  },
+  "right_front": {
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+   "against": [
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+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
+   ],
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+    0.5001,
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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": {
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+   "source_sha256": "8a2abb73c0e52ec4dd18fadb19feec11b039b70e4cce7e9a729ca3a93761f1f2"
+  },
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+   "source_sha256": "5a54cc5061e1c545ff0bd507cc7a789108d5b98910e09d295ec7d0cad73ef9cf"
+  },
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+  },
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+   "sha256": "d354f66dbbad96ca5be6024f941b881c1fe6bc39ba79fc4770bad7267be8549a",
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+  "right_front-right": 0.463,
+  "right_front-right_eye": 0.724
+ },
+ "picture_change": {
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+  "right_eye": 45.468,
+  "right_front": 46.511
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+ "runtime": {
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+  "opencv": "5.0.0",
+  "scipy": "1.17.1"
+ },
+ "segment": 1,
+ "selection": {
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+}
\ No newline at end of file
diff --git a/actions/locomotion_primitives/P14/session_003/cameras/slam.npz b/actions/locomotion_primitives/P14/session_003/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..07fb631dd1fd65011c1dce810c19325dd8ab9dd3
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_003/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a34d73321b00306a8e6fef140dc181a5e743d263d6061b4c12a5a9d4fef3a07
+size 1055178
diff --git a/actions/locomotion_primitives/P14/session_003/meta.json b/actions/locomotion_primitives/P14/session_003/meta.json
index b2ff562a928232e5064e78374e799c14eb1eb332..e9c79c62701ca7e581ffa7b6f96a57102c1fe667 100644
--- a/actions/locomotion_primitives/P14/session_003/meta.json
+++ b/actions/locomotion_primitives/P14/session_003/meta.json
@@ -346,8 +346,8 @@
   "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 @@
   "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": 10.34,
+    "offset_rotvec": [
+     0.0536,
+     -0.1631,
+     -0.0554
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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": "P14",
   "source_session": "20260904/P14/20260904_022346_session11"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_003/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_003/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5607678f041a5bd43a069adaf7ff2e41ec2147de
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_003/motions/hands_mano.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P14/session_003/motions/smplx.npz b/actions/locomotion_primitives/P14/session_003/motions/smplx.npz
index 42de80d8d8298a5a50157fe91a9a9c3fe20be787..a62846f185a5a49704fd7f2a7739fec606409c3a 100644
--- a/actions/locomotion_primitives/P14/session_003/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_003/motions/smplx.npz
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diff --git a/actions/locomotion_primitives/P14/session_004/annotations.json b/actions/locomotion_primitives/P14/session_004/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ed2ea80cddc25b3c676460e1a0ec37aa854982d
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_004/annotations.json
@@ -0,0 +1,171 @@
+{
+ "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": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
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+   "video": "left_eye",
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+}
diff --git a/actions/locomotion_primitives/P14/session_004/cameras/slam.npz b/actions/locomotion_primitives/P14/session_004/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6d79623cf05eb50eb02ce2d7eb316b4456a5efb1
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_004/cameras/slam.npz
@@ -0,0 +1,3 @@
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diff --git a/actions/locomotion_primitives/P14/session_004/meta.json b/actions/locomotion_primitives/P14/session_004/meta.json
index f2b4e8b184c19db0b1a122210df9b3bd0818a7d3..b548c9f6578923c783bedaf406c9da9c7bc89b79 100644
--- a/actions/locomotion_primitives/P14/session_004/meta.json
+++ b/actions/locomotion_primitives/P14/session_004/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",
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     "left": {
@@ -507,10 +507,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.49088459672899953
  },
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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": "P14",
   "source_session": "20260907/P14/20260907_113615_session222"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_004/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_004/motions/hands_mano.npz
new file mode 100644
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diff --git a/actions/locomotion_primitives/P14/session_005/annotations.json b/actions/locomotion_primitives/P14/session_005/annotations.json
new file mode 100644
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--- /dev/null
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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": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
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+   "video": "left_eye",
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+}
diff --git a/actions/locomotion_primitives/P14/session_005/cameras/slam.npz b/actions/locomotion_primitives/P14/session_005/cameras/slam.npz
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index 413e385f7b4caca65daa63ced122d3c596449b6e..cd7f93079e7aa7cc82f1f216dc8ef1a65f9277ad 100644
--- a/actions/locomotion_primitives/P14/session_005/meta.json
+++ b/actions/locomotion_primitives/P14/session_005/meta.json
@@ -327,8 +327,8 @@
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@@ -509,10 +509,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20260908/P14/20260908_054029_session34"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_005/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_005/motions/hands_mano.npz
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diff --git a/actions/locomotion_primitives/P14/session_006/cameras/slam.npz b/actions/locomotion_primitives/P14/session_006/cameras/slam.npz
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--- /dev/null
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index 7d9864914a5405b53ef6a0559967b6c3530a68b9..27950bf3e75488226b3a792823c37b8d8c37aad3 100644
--- a/actions/locomotion_primitives/P14/session_006/meta.json
+++ b/actions/locomotion_primitives/P14/session_006/meta.json
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@@ -512,10 +512,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+ },
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+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_006/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_006/motions/hands_mano.npz
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  }
+ ]
+}
diff --git a/actions/locomotion_primitives/P14/session_007/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_007/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b42e477b7fb5a56a4697848d4e5b017d17919c43
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_007/cameras/gsi_online_calibration.json
@@ -0,0 +1,255 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 14,
+  "median_px": 0.357
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
+   "delta_deg": 1.0671,
+   "gate_fail": [],
+   "held_out_px_after": 0.563,
+   "held_out_px_before": 4.559,
+   "inliers": 1906,
+   "position_fitted": false,
+   "rotvec_deg": [
+    0.4339,
+    -0.3881,
+    -0.8944
+   ],
+   "split_deg": 0.0466,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 1.8981,
+   "gate_fail": [],
+   "held_out_px_after": 0.39,
+   "held_out_px_before": 5.335,
+   "inliers": 3232,
+   "position_fitted": true,
+   "position_mm": [
+    2.19,
+    -12.25,
+    7.72
+   ],
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+   "position_split_mm": 1.106,
+   "rotvec_deg": [
+    0.1242,
+    0.5953,
+    -1.798
+   ],
+   "split_deg": 0.0221,
+   "usable": true
+  },
+  "left_front": {
+   "role": "rig origin"
+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye"
+   ],
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+   "position_fitted": false,
+   "rotvec_deg": [
+    1.1867,
+    -0.2727,
+    -0.0777
+   ],
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+   "usable": true
+  },
+  "right_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+    -13.51,
+    9.36
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+    0.225,
+    -0.5099,
+    -0.4311
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+   "split_deg": 0.0135,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "position_fitted": false,
+   "rotvec_deg": [
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+    0.0178,
+    -1.3251
+   ],
+   "split_deg": 0.0125,
+   "usable": true
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+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "sha256": "315d4790e87edd3cea95b9523a05bcb9d52ace980f9abc074a83cbaeb58925b9",
+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+   "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
+  },
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+   "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
+  },
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+   "sha256": "682309f0382d64f0f59bc1268ab25224ac0387bff93a67431a16907a8d82ac29",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "bad98fa4477fa637",
+ "kind": "online_calibration",
+ "output_sha256": "f66a06ae1aa93508d20c7a7a220134cb7963c932bea7312ad9cce15e1b7e725f",
+ "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": 38.27,
+  "left_eye": 35.837,
+  "left_front": 40.127,
+  "right": 38.383,
+  "right_eye": 32.307,
+  "right_front": 39.386
+ },
+ "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/P14/session_007/cameras/slam.npz b/actions/locomotion_primitives/P14/session_007/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cc2258b7cc7dc4675bef0e5ab9e9ffd4a5325c10
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_007/cameras/slam.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98868a047e4a791cc25c87b5cc022043a7f3e9da143f0155fb6c611b9d74c6a5
+size 772641
diff --git a/actions/locomotion_primitives/P14/session_007/meta.json b/actions/locomotion_primitives/P14/session_007/meta.json
index 1145f1bf51f0f661beee2fb76374fcd7034b7672..3645c33a39d80d025825ea7f8b58474208bad6d7 100644
--- a/actions/locomotion_primitives/P14/session_007/meta.json
+++ b/actions/locomotion_primitives/P14/session_007/meta.json
@@ -328,8 +328,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -514,10 +514,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.9343028375132026
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.2,
+    "offset_rotvec": [
+     0.2616,
+     -0.0437,
+     -0.0001
+    ],
+    "dev_deg": {
+     "median": 12.17,
+     "p90": 27.74
+    },
+    "samples": 3405,
+    "accepted": 3132,
+    "wrist_pos_err_mm_median": 82.3,
+    "per_camera": {
+     "head": {
+      "samples": 3405,
+      "accepted": 3132,
+      "gate_deg": 30.0,
+      "offset_deg": 15.2,
+      "tier": "primary",
+      "dev_deg_median": 12.17,
+      "wrist_pos_err_mm_median": 82.3
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 12814,
+     "interpolated": 3234,
+     "mean_hand": 7,
+     "no_body_fit": 29
+    },
+    "observed_fraction": 0.9978,
+    "observed_fraction_of_valid": 0.9996,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 16.27,
+     "smplx": 0.6
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 15.6,
+      "p90": 24.9
+     },
+     "registered": {
+      "median": 15.3,
+      "p90": 24.0
+     }
+    }
+   },
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+    "offset_rotvec": [
+     0.3079,
+     0.0214,
+     0.1797
+    ],
+    "dev_deg": {
+     "median": 8.75,
+     "p90": 18.94
+    },
+    "samples": 3798,
+    "accepted": 3649,
+    "wrist_pos_err_mm_median": 59.0,
+    "per_camera": {
+     "head": {
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+      "accepted": 3649,
+      "gate_deg": 30.0,
+      "offset_deg": 20.46,
+      "tier": "primary",
+      "dev_deg_median": 8.75,
+      "wrist_pos_err_mm_median": 59.0
+     }
+    },
+    "frames_by_state": {
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+     "interpolated": 850,
+     "mean_hand": 499,
+     "no_body_fit": 29
+    },
+    "observed_fraction": 0.9672,
+    "observed_fraction_of_valid": 0.9689,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 20.55,
+     "smplx": 0.58
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.6,
+      "p90": 24.1
+     },
+     "registered": {
+      "median": 17.5,
+      "p90": 23.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-03T22:56:04.931907+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/P14/session_007",
   "family": "locomotion_primitives",
   "primitive": "P14",
   "source_session": "20260919/P14/20260919_012522_session9"
+ },
+ "task": {
+  "primitive": "P14",
+  "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
  }
 }
diff --git a/actions/locomotion_primitives/P14/session_007/motions/hands_mano.npz b/actions/locomotion_primitives/P14/session_007/motions/hands_mano.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3bf90d0e3d78576e904b53a8368317ee5679a234
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_007/motions/hands_mano.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3c4824c1e20f47561ffb10b8855c45ea90cfcd6aaf1375bb2a46040838cba74
+size 4896951
diff --git a/actions/locomotion_primitives/P14/session_007/motions/smplx.npz b/actions/locomotion_primitives/P14/session_007/motions/smplx.npz
index f2bb656a85b32f80530b5470ff7a57b4da0f1bc7..4d9547bb1e66651ba22207f82c8857fc465ead86 100644
--- a/actions/locomotion_primitives/P14/session_007/motions/smplx.npz
+++ b/actions/locomotion_primitives/P14/session_007/motions/smplx.npz
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:441cdd278047313855d524263a185b8f47f215de2b81a6118b2a88635706000d
-size 6136663
+oid sha256:ab4e74f5e0ea3122845f01ebe331c619e048bf98b7330b68e3861cad8a53650e
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diff --git a/actions/locomotion_primitives/P14/session_008/annotations.json b/actions/locomotion_primitives/P14/session_008/annotations.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e120f9f797902391d659be57651d578a82b6eab
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_008/annotations.json
@@ -0,0 +1,149 @@
+{
+ "schema_version": 1,
+ "source": "vendor annotation.json (schema 2, revision 1)",
+ "time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
+ "primitive": "P14",
+ "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop.",
+ "segments": [
+  {
+   "id": "segment1",
+   "duration_s": 58.966711,
+   "video": "left_eye",
+   "video_t_start": 0.040628408707794605
+  }
+ ],
+ "episodes": [
+  {
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+   "segment": "segment1",
+   "action": "P14",
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+  },
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+   "instruction": "Move laterally left/right for ~3 m; natural controlled steps; stop."
+  },
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--- /dev/null
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index 376a70f86f61bfb47ebd66c792e7dfadb1cecf9b..e66b3ceecf947516cf42887331155234742361df 100644
--- a/actions/locomotion_primitives/P14/session_008/meta.json
+++ b/actions/locomotion_primitives/P14/session_008/meta.json
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@@ -505,10 +505,124 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "source_session": "20260919/P14/20260919_075955_session127"
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  }
 }
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@@ -508,10 +508,124 @@
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  }
 }
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+}
diff --git a/actions/locomotion_primitives/P14/session_010/cameras/gsi_online_calibration.json b/actions/locomotion_primitives/P14/session_010/cameras/gsi_online_calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcbf2d00b13ab2d746ae39ece648eea1eae39436
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_010/cameras/gsi_online_calibration.json
@@ -0,0 +1,257 @@
+{
+ "camera_fit": {
+  "groups_dropped": [],
+  "groups_used": 15,
+  "median_px": 0.397
+ },
+ "cameras": {
+  "left": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "right"
+   ],
+   "delta_deg": 1.0279,
+   "gate_fail": [],
+   "held_out_px_after": 0.552,
+   "held_out_px_before": 5.536,
+   "inliers": 2003,
+   "position_fitted": false,
+   "rotvec_deg": [
+    -0.4767,
+    -0.3859,
+    -0.8249
+   ],
+   "split_deg": 0.0714,
+   "usable": true
+  },
+  "left_eye": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "right_eye",
+    "left",
+    "right"
+   ],
+   "delta_deg": 2.3116,
+   "gate_fail": [],
+   "held_out_px_after": 0.379,
+   "held_out_px_before": 6.158,
+   "inliers": 3726,
+   "position_fitted": true,
+   "position_mm": [
+    6.4,
+    -13.54,
+    3.47
+   ],
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+   "position_split_mm": 1.488,
+   "rotvec_deg": [
+    0.005,
+    0.8054,
+    -2.1667
+   ],
+   "split_deg": 0.0581,
+   "usable": true
+  },
+  "left_front": {
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+  },
+  "right": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "right_eye",
+    "left"
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+   "gate_fail": [],
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+   "held_out_px_before": 5.661,
+   "inliers": 1847,
+   "position_fitted": false,
+   "rotvec_deg": [
+    1.2572,
+    -0.3354,
+    -0.4412
+   ],
+   "split_deg": 0.2152,
+   "usable": true
+  },
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+   "against": [
+    "left_front",
+    "right_front",
+    "left_eye",
+    "left",
+    "right"
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+   "position_fitted": true,
+   "position_mm": [
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+    -16.17,
+    3.83
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+   "rotvec_deg": [
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+    -0.2815,
+    -0.8578
+   ],
+   "split_deg": 0.051,
+   "usable": true
+  },
+  "right_front": {
+   "accepted": true,
+   "against": [
+    "left_front",
+    "left_eye",
+    "right_eye",
+    "left",
+    "right"
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+   "inliers": 3403,
+   "position_fitted": false,
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+    -0.0093,
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+   ],
+   "split_deg": 0.0105,
+   "usable": true
+  }
+ },
+ "code_fingerprint": "711ecf5b3dd408f8",
+ "device_id": "e17c9efadb69e7b1",
+ "factory_root_name": "e17c9efadb69e7b1",
+ "files": {
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+   "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
+  },
+  "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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+  },
+  "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": "619320b1616dfb3130ced1f136acb95253544cc713dcdb6397d4d978cc9b08ef",
+   "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
+  }
+ },
+ "input_fingerprint": "bcd1d35110c0fde0",
+ "kind": "online_calibration",
+ "output_sha256": "bd99a060444a25f47feb1a19add8f56bd0e37104e7ff1a751cd2933575886ba6",
+ "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": 40.705,
+  "left_eye": 41.745,
+  "left_front": 39.393,
+  "right": 41.224,
+  "right_eye": 40.665,
+  "right_front": 39.036
+ },
+ "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/P14/session_010/cameras/slam.npz b/actions/locomotion_primitives/P14/session_010/cameras/slam.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eeb27ef0f154865cf53591d572181666bf7643c9
--- /dev/null
+++ b/actions/locomotion_primitives/P14/session_010/cameras/slam.npz
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