GSI hands registered into SMPL-X for 512 sessions; GSI-arbitrated wrist orientation (part 5)

actions/locomanipulation/LM84/session_005/motions/smplx.npz

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actions/locomanipulation/LM84/session_006/meta.json

@@ -365,8 +365,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -437,14 +437,25 @@
     "status": "corrected",
     "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.98662,
-     0.4392,
-     0.86995
+     2.98662,
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-    "in_out_sign": 1,
-    "wrist_bend_deg_median": 171.5,
-    "opposite_sign_bend_deg": 26.5,
-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": -1,
+    "q_source": "markers (sign flipped by GSI)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.925,
+     "inlier_spread_deg": 11.22,
+     "marker_Q_to_gsi_deg": {
+      "1": 172.1,
+      "-1": 10.7
+     }
+    },
+    "wrist_bend_deg_median": 168.8,
+    "opposite_sign_bend_deg": 40.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.53,
     "hand_vs_marker_frame_deg": {
      "before": 178.63,
@@ -456,15 +467,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -166.57,
      "wrist_twist_deg_after": {
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+      "median": -2.4,
       "iqr": [
-       -1.9,
-       8.1
+       -6.4,
+       3.6
       ]
      },
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+     "wrist_total_deg_median_after": 26.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -477,10 +488,21 @@
     "Q_deg": 0.0,
     "Q_rotvec": [
      0.0,
-     0.0,
+     -0.0,
      -0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
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+     "inlier_frac": 0.933,
+     "inlier_spread_deg": 12.85,
+     "marker_Q_to_gsi_deg": {
+      "1": 8.0,
+      "-1": 179.1
+     }
+    },
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     "opposite_sign_bend_deg": 173.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -497,7 +519,7 @@
     "forearm_twist": {
      "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
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        3.8
@@ -512,10 +534,120 @@
     },
     "frames_used": 1500
    },
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+   "generated_at_utc": "2026-11-06T14:14:03.670241+00:00",
    "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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+     -0.1508,
+     -0.0421
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+     "p90": 23.78
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+    "samples": 3624,
+    "accepted": 3356,
+    "wrist_pos_err_mm_median": 42.7,
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+      "accepted": 3356,
+      "gate_deg": 30.0,
+      "offset_deg": 10.83,
+      "tier": "primary",
+      "dev_deg_median": 11.61,
+      "wrist_pos_err_mm_median": 42.7
+     }
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+     "ace_sample": 13648,
+     "interpolated": 1524,
+     "mean_hand": 904,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9438,
+    "observed_fraction_of_valid": 0.9438,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.63
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+      "p90": 11.9
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+      "offset_deg": 7.79,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 43.0
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+     "mean_hand": 672,
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.12
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+      "p90": 10.1
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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/locomanipulation/LM84/session_006",
   "family": "locomanipulation",

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actions/locomanipulation/LM85/session_016/meta.json

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   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -403,10 +403,21 @@
      0.2415,
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-    "opposite_sign_bend_deg": 38.4,
-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": -1,
+    "q_source": "markers (sign flipped by GSI)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.91,
+     "inlier_spread_deg": 3.3,
+     "marker_Q_to_gsi_deg": {
+      "1": 163.2,
+      "-1": 18.4
+     }
+    },
+    "wrist_bend_deg_median": 174.3,
+    "opposite_sign_bend_deg": 14.4,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.44,
     "hand_vs_marker_frame_deg": {
      "before": 179.39,
@@ -417,15 +428,15 @@
      "LHandOut"
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       "LWristIn",
@@ -438,11 +449,22 @@
     "status": "corrected",
     "Q_deg": 0.0,
     "Q_rotvec": [
+     -0.0,
      0.0,
-     0.0,
-     -0.0
+     0.0
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     "opposite_sign_bend_deg": 175.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -458,9 +480,9 @@
      "RHandOut"
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  },
@@ -553,6 +575,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+      "offset_deg": 17.04,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 23.8
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+     "interpolated": 26,
+     "mean_hand": 1384,
+     "no_body_fit": 0
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+    "observed_fraction_of_valid": 0.8891,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.88
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+    "hand_marker_to_mesh_mm": {
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM85/session_016",
   "family": "locomanipulation",

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actions/locomanipulation/LM85/session_017/meta.json

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   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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     "left": {
@@ -400,14 +400,25 @@
     "status": "corrected",
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-    "opposite_sign_bend_deg": 34.8,
-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": -1,
+    "q_source": "markers (sign flipped by GSI)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.939,
+     "inlier_spread_deg": 3.49,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 21.0
+     }
+    },
+    "wrist_bend_deg_median": 174.6,
+    "opposite_sign_bend_deg": 15.9,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.57,
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      "before": 179.53,
@@ -418,15 +429,15 @@
      "LHandOut"
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       "LWristIn",
@@ -440,10 +451,21 @@
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      0.0,
-     0.0,
-     0.0
+     -0.0,
+     -0.0
     ],
     "in_out_sign": 1,
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@@ -461,7 +483,7 @@
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@@ -518,6 +540,116 @@
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@@ -456,15 +467,15 @@
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@@ -496,7 +518,7 @@
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@@ -513,7 +535,7 @@
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@@ -470,15 +481,15 @@
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@@ -492,11 +503,18 @@
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@@ -510,9 +528,9 @@
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@@ -387,14 +387,25 @@
     "status": "corrected",
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+     0.80509
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-    "opposite_sign_bend_deg": 41.4,
-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
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@@ -405,15 +416,15 @@
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       "LForearm",
       "LWristIn",
@@ -424,19 +435,30 @@
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@@ -444,15 +466,15 @@
      "RHandOut"
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       "RWristOut"
@@ -460,7 +482,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -504,6 +526,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
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   "family": "locomanipulation",

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actions/locomanipulation/LM86/session_010/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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@@ -400,10 +400,21 @@
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@@ -414,15 +425,15 @@
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@@ -440,6 +451,17 @@
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@@ -470,7 +492,7 @@
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@@ -514,6 +536,116 @@
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  "release": {
   "release_path": "actions/locomanipulation/LM86/session_010",
   "family": "locomanipulation",

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actions/locomanipulation/LM86/session_024/meta.json

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@@ -442,19 +442,30 @@
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@@ -462,15 +473,15 @@
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@@ -520,7 +542,7 @@
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@@ -557,6 +579,116 @@
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@@ -397,19 +397,30 @@
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@@ -418,15 +429,15 @@
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@@ -438,11 +449,22 @@
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@@ -473,7 +495,7 @@
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@@ -565,6 +587,116 @@
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   "release_path": "actions/locomotion_posture_dynamics/D14/session_007",
   "family": "locomotion_posture_dynamics",

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actions/locomotion_posture_dynamics/D14/session_012/meta.json

@@ -384,35 +384,46 @@
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@@ -460,7 +482,7 @@
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actions/locomotion_posture_dynamics/D15/session_008/meta.json

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@@ -413,19 +413,30 @@
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@@ -434,15 +445,15 @@
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@@ -452,19 +463,30 @@
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@@ -473,15 +495,15 @@
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@@ -489,7 +511,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -580,6 +602,116 @@
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actions/locomotion_posture_dynamics/D19/session_014/meta.json

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@@ -481,7 +492,7 @@
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@@ -520,15 +542,15 @@
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@@ -536,7 +558,7 @@
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@@ -596,6 +618,116 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -546,6 +568,116 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 15.24,
+    "offset_rotvec": [
+     0.0406,
+     0.2557,
+     0.0612
+    ],
+    "dev_deg": {
+     "median": 12.56,
+     "p90": 35.58
+    },
+    "samples": 1934,
+    "accepted": 1620,
+    "wrist_pos_err_mm_median": 43.2,
+    "per_camera": {
+     "head": {
+      "samples": 1934,
+      "accepted": 1620,
+      "gate_deg": 30.0,
+      "offset_deg": 15.24,
+      "tier": "primary",
+      "dev_deg_median": 12.56,
+      "wrist_pos_err_mm_median": 43.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 6528,
+     "interpolated": 1152,
+     "mean_hand": 604,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9271,
+    "observed_fraction_of_valid": 0.9271,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.33,
+     "smplx": 3.84
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 10.3
+     },
+     "registered": {
+      "median": 5.5,
+      "p90": 8.0
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 7.97,
+    "offset_rotvec": [
+     0.0085,
+     0.025,
+     0.1365
+    ],
+    "dev_deg": {
+     "median": 11.24,
+     "p90": 33.47
+    },
+    "samples": 1437,
+    "accepted": 1270,
+    "wrist_pos_err_mm_median": 59.6,
+    "per_camera": {
+     "head": {
+      "samples": 1437,
+      "accepted": 1270,
+      "gate_deg": 30.0,
+      "offset_deg": 7.97,
+      "tier": "primary",
+      "dev_deg_median": 11.24,
+      "wrist_pos_err_mm_median": 59.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 5158,
+     "interpolated": 1422,
+     "mean_hand": 1704,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.7943,
+    "observed_fraction_of_valid": 0.7943,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 7.93,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T14:43:22.747344+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_posture_dynamics/D23/session_006",
   "family": "locomotion_posture_dynamics",

actions/locomotion_posture_dynamics/D23/session_006/motions/smplx.npz

@@ -1,3 +1,3 @@
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-oid sha256:08595a4ea2bca14f2a5211c436ff31b0a3e2eb18549845b717ed35091f9d516b
-size 3176324
+oid sha256:87e97055bdd64b9cc8aa1620acfa320d16f22c013087af199a4cd20951601d28
+size 5652009

actions/locomotion_posture_dynamics/D23/session_010/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": {
@@ -399,14 +399,25 @@
     "status": "corrected",
     "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.99023,
-     0.44902,
-     0.85237
+     2.99022,
+     -0.44902,
+     -0.85237
     ],
-    "in_out_sign": 1,
-    "wrist_bend_deg_median": 175.5,
-    "opposite_sign_bend_deg": 16.5,
-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": -1,
+    "q_source": "markers (sign flipped by GSI)",
+    "gsi": {
+     "reliable": true,
+     "frames": 1525,
+     "inlier_frac": 0.635,
+     "inlier_spread_deg": 17.32,
+     "marker_Q_to_gsi_deg": {
+      "1": 140.9,
+      "-1": 39.4
+     }
+    },
+    "wrist_bend_deg_median": 172.1,
+    "opposite_sign_bend_deg": 32.2,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.66,
     "hand_vs_marker_frame_deg": {
      "before": 179.03,
@@ -418,15 +429,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 173.59,
+     "twist_moved_deg": -170.74,
      "wrist_twist_deg_after": {
-      "median": 2.42,
+      "median": -2.84,
       "iqr": [
-       -4.1,
-       4.5
+       -12.2,
+       -0.6
       ]
      },
-     "wrist_total_deg_median_after": 32.2,
+     "wrist_total_deg_median_after": 16.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -443,6 +454,17 @@
      0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 1561,
+     "inlier_frac": 0.826,
+     "inlier_spread_deg": 13.95,
+     "marker_Q_to_gsi_deg": {
+      "1": 17.4,
+      "-1": 165.3
+     }
+    },
     "wrist_bend_deg_median": 14.9,
     "opposite_sign_bend_deg": 175.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -457,9 +479,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 0.0,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -4.8,
        10.9
@@ -473,7 +495,7 @@
     },
     "frames_used": 829
    },
-   "generated_at_utc": "2026-10-28T06:30:35.482925+00:00",
+   "generated_at_utc": "2026-11-06T13:59:39.135386+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -517,6 +539,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.441174332200457
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 39.38,
+    "offset_rotvec": [
+     0.6314,
+     0.101,
+     -0.252
+    ],
+    "dev_deg": {
+     "median": 26.1,
+     "p90": 48.48
+    },
+    "samples": 1525,
+    "accepted": 956,
+    "wrist_pos_err_mm_median": 96.5,
+    "per_camera": {
+     "head": {
+      "samples": 1525,
+      "accepted": 956,
+      "gate_deg": 30.0,
+      "offset_deg": 39.38,
+      "tier": "primary",
+      "dev_deg_median": 26.1,
+      "wrist_pos_err_mm_median": 96.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 3968,
+     "interpolated": 2508,
+     "mean_hand": 1808,
+     "no_body_fit": 0
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+    "observed_fraction": 0.7817,
+    "observed_fraction_of_valid": 0.7817,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 43.25,
+     "smplx": 1.26
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.7,
+      "p90": 13.9
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+     "registered": {
+      "median": 10.0,
+      "p90": 13.1
+     }
+    }
+   },
+   "right": {
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+    "offset_rotvec": [
+     0.2497,
+     -0.0698,
+     0.1275
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+    "dev_deg": {
+     "median": 15.72,
+     "p90": 39.14
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+    "samples": 1561,
+    "accepted": 1286,
+    "wrist_pos_err_mm_median": 154.8,
+    "per_camera": {
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+      "accepted": 1286,
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+      "offset_deg": 16.55,
+      "tier": "primary",
+      "dev_deg_median": 15.72,
+      "wrist_pos_err_mm_median": 154.8
+     }
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+     "ace_sample": 5238,
+     "interpolated": 1986,
+     "mean_hand": 1060,
+     "no_body_fit": 0
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+    "observed_fraction": 0.872,
+    "observed_fraction_of_valid": 0.872,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 21.61,
+     "smplx": 1.0
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 9.3,
+      "p90": 20.5
+     },
+     "registered": {
+      "median": 11.3,
+      "p90": 18.9
+     }
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+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T15:17:33.837778+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_posture_dynamics/D23/session_010",
   "family": "locomotion_posture_dynamics",