GSI hands registered into SMPL-X for 512 sessions; GSI-arbitrated wrist orientation

actions/dynamic_recovery/DR01/session_007/meta.json

@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -393,12 +393,23 @@
     "Q_rotvec": [
      2.99022,
      -0.44902,
-     -0.85238
+     -0.85237
     ],
-    "in_out_sign": 1,
-    "wrist_bend_deg_median": 173.1,
-    "opposite_sign_bend_deg": 23.9,
-    "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": 2855,
+     "inlier_frac": 0.759,
+     "inlier_spread_deg": 17.35,
+     "marker_Q_to_gsi_deg": {
+      "1": 145.8,
+      "-1": 35.3
+     }
+    },
+    "wrist_bend_deg_median": 163.9,
+    "opposite_sign_bend_deg": 30.4,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.19,
     "hand_vs_marker_frame_deg": {
      "before": 179.57,
@@ -409,15 +420,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 163.55,
+     "twist_moved_deg": -162.08,
      "wrist_twist_deg_after": {
-      "median": 10.48,
+      "median": -1.47,
       "iqr": [
-       3.9,
-       17.9
+       -7.0,
+       2.1
       ]
      },
-     "wrist_total_deg_median_after": 30.6,
+     "wrist_total_deg_median_after": 23.4,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -435,6 +446,17 @@
      0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 2530,
+     "inlier_frac": 0.606,
+     "inlier_spread_deg": 14.35,
+     "marker_Q_to_gsi_deg": {
+      "1": 32.9,
+      "-1": 148.2
+     }
+    },
     "wrist_bend_deg_median": 28.6,
     "opposite_sign_bend_deg": 174.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -448,7 +470,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -465,7 +487,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:18:12.593541+00:00",
+   "generated_at_utc": "2026-11-06T13:46:44.938472+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -509,6 +531,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.06129915955549
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 24.95,
+    "offset_rotvec": [
+     0.4155,
+     -0.1303,
+     -0.0028
+    ],
+    "dev_deg": {
+     "median": 22.8,
+     "p90": 35.43
+    },
+    "samples": 2855,
+    "accepted": 2261,
+    "wrist_pos_err_mm_median": 82.2,
+    "per_camera": {
+     "head": {
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+      "accepted": 2261,
+      "gate_deg": 30.0,
+      "offset_deg": 24.95,
+      "tier": "primary",
+      "dev_deg_median": 22.8,
+      "wrist_pos_err_mm_median": 82.2
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 9200,
+     "interpolated": 2988,
+     "mean_hand": 3288,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.7871,
+    "observed_fraction_of_valid": 0.7875,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 39.01,
+     "smplx": 1.38
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.6,
+      "p90": 12.2
+     },
+     "registered": {
+      "median": 10.2,
+      "p90": 13.9
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0741,
+     -0.2959
+    ],
+    "dev_deg": {
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+     "p90": 133.79
+    },
+    "samples": 2530,
+    "accepted": 49,
+    "wrist_pos_err_mm_median": 296.1,
+    "per_camera": {
+     "head": {
+      "samples": 2530,
+      "accepted": 49,
+      "gate_deg": 30.0,
+      "offset_deg": 84.05,
+      "tier": "primary",
+      "dev_deg_median": 107.55,
+      "wrist_pos_err_mm_median": 296.1
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 182,
+     "interpolated": 204,
+     "mean_hand": 15090,
+     "no_body_fit": 8
+    },
+    "observed_fraction": 0.0249,
+    "observed_fraction_of_valid": 0.0249,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 39.67,
+     "smplx": 13.34
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 7.6,
+      "p90": 10.9
+     },
+     "registered": {
+      "median": 7.1,
+      "p90": 10.9
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T14:49:27.641669+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/dynamic_recovery/DR01/session_007",
   "family": "dynamic_recovery",

actions/dynamic_recovery/DR01/session_007/motions/smplx.npz

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actions/dynamic_recovery/DR01/session_010/meta.json

@@ -326,8 +326,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -398,17 +398,28 @@
     "status": "corrected",
     "Q_deg": 180.0,
     "Q_rotvec": [
-     3.02706,
-     -0.2415,
-     -0.80509
+     -3.02706,
+     0.2415,
+     0.80509
     ],
-    "in_out_sign": 1,
+    "in_out_sign": -1,
+    "q_source": "markers (sign flipped by GSI)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.991,
+     "inlier_spread_deg": 4.68,
+     "marker_Q_to_gsi_deg": {
+      "1": 176.5,
+      "-1": 4.9
+     }
+    },
     "wrist_bend_deg_median": 176.8,
-    "opposite_sign_bend_deg": 27.7,
-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "opposite_sign_bend_deg": 13.7,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.75,
     "hand_vs_marker_frame_deg": {
-     "before": 179.61,
+     "before": 179.62,
      "after": 0.75
     },
     "markers_on_wrist": [
@@ -416,15 +427,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -176.54,
      "wrist_twist_deg_after": {
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+      "median": -0.26,
       "iqr": [
-       -1.6,
-       0.8
+       -1.7,
+       0.3
       ]
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+     "wrist_total_deg_median_after": 27.6,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -438,11 +449,22 @@
     "status": "corrected",
     "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,
+     "frames": 3000,
+     "inlier_frac": 0.994,
+     "inlier_spread_deg": 4.0,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 172.2
+     }
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     "opposite_sign_bend_deg": 178.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -460,7 +482,7 @@
     "forearm_twist": {
      "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -1.0,
        0.8
@@ -473,7 +495,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:24:49.272051+00:00",
+   "generated_at_utc": "2026-11-06T13:53:40.636074+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": 1.139504913001182
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     0.0931,
+     -0.0795
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+    "dev_deg": {
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+     "p90": 14.02
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+    "samples": 3678,
+    "accepted": 3625,
+    "wrist_pos_err_mm_median": 158.0,
+    "per_camera": {
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+      "accepted": 3625,
+      "gate_deg": 30.0,
+      "offset_deg": 8.86,
+      "tier": "primary",
+      "dev_deg_median": 5.93,
+      "wrist_pos_err_mm_median": 158.0
+     }
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+     "interpolated": 886,
+     "mean_hand": 13,
+     "no_body_fit": 7
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+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 16.3
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+      "p90": 16.0
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+     0.0213
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+      "gate_deg": 30.0,
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+      "tier": "primary",
+      "dev_deg_median": 4.03,
+      "wrist_pos_err_mm_median": 114.2
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+     "interpolated": 854,
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+     "smplx": 0.37
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 8.8
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+     "registered": {
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+      "p90": 7.5
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T15:04:49.938275+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/dynamic_recovery/DR01/session_010",
   "family": "dynamic_recovery",

actions/dynamic_recovery/DR01/session_010/motions/smplx.npz

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actions/dynamic_recovery/DR02/session_006/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": {
@@ -401,14 +401,25 @@
     "status": "corrected",
     "Q_deg": 180.0,
     "Q_rotvec": [
-     2.99022,
-     -0.44902,
-     -0.85238
+     -2.99022,
+     0.44902,
+     0.85237
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-    "wrist_bend_deg_median": 175.4,
-    "opposite_sign_bend_deg": 20.7,
-    "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": 2870,
+     "inlier_frac": 0.831,
+     "inlier_spread_deg": 12.19,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 24.3
+     }
+    },
+    "wrist_bend_deg_median": 172.8,
+    "opposite_sign_bend_deg": 24.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.17,
     "hand_vs_marker_frame_deg": {
      "before": 178.21,
@@ -420,15 +431,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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-       11.2
+       -2.8,
+       7.2
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+     "wrist_total_deg_median_after": 20.7,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -438,19 +449,30 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
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-    "opposite_sign_bend_deg": 175.1,
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+     "inlier_frac": 0.835,
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+     "marker_Q_to_gsi_deg": {
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+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
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@@ -459,15 +481,15 @@
      "RHandOut"
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+       1.0,
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+     "wrist_total_deg_median_after": 18.8,
      "markers_on_forearm": [
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       "RWristIn"
@@ -475,7 +497,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -519,6 +541,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.4494913734093366
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+    "per_camera": {
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+      "gate_deg": 30.0,
+      "offset_deg": 19.25,
+      "tier": "primary",
+      "dev_deg_median": 15.77,
+      "wrist_pos_err_mm_median": 287.1
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+     "interpolated": 3072,
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+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.94
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+      "p90": 13.1
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actions/dynamic_recovery/DR02/session_009/meta.json

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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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@@ -422,15 +433,15 @@
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      0.0,
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+     -0.0
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@@ -462,7 +484,7 @@
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@@ -477,7 +499,7 @@
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@@ -521,6 +543,116 @@
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+ },
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actions/dynamic_recovery/DR03/session_007/meta.json

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@@ -396,35 +396,46 @@
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@@ -435,19 +446,30 @@
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@@ -456,15 +478,15 @@
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@@ -472,7 +494,7 @@
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actions/dynamic_recovery/DR04/session_007/meta.json

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@@ -455,22 +477,22 @@
      "RHandOut"
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+       4.9,
+       22.1
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -514,6 +536,116 @@
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/dynamic_recovery/DR04/session_007",
   "family": "dynamic_recovery",

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actions/dynamic_recovery/DR05/session_006/meta.json

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@@ -410,15 +421,15 @@
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       "LWristIn",
@@ -431,11 +442,22 @@
     "status": "corrected",
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+     0.0,
      -0.0,
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+     -0.0
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@@ -449,9 +471,9 @@
      "RHandOut"
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@@ -465,7 +487,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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actions/dynamic_recovery/DR06/session_005/meta.json

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@@ -398,14 +398,25 @@
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@@ -416,15 +427,15 @@
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@@ -438,11 +449,22 @@
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@@ -473,7 +495,7 @@
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+ },
  "release": {
   "release_path": "actions/dynamic_recovery/DR06/session_005",
   "family": "dynamic_recovery",

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actions/dynamic_recovery/DR08/session_001/meta.json

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@@ -420,15 +431,15 @@
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@@ -441,11 +452,22 @@
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@@ -459,7 +481,7 @@
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@@ -476,7 +498,7 @@
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@@ -520,6 +542,116 @@
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actions/dynamic_recovery/DR09/session_001/meta.json

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@@ -408,15 +419,15 @@
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actions/dynamic_recovery/DR09/session_002/meta.json

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+ },
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   "release_path": "actions/dynamic_recovery/DR09/session_002",
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actions/dynamic_recovery/DR09/session_010/meta.json

@@ -316,8 +316,8 @@
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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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@@ -383,14 +383,25 @@
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-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+    "q_source": "markers (sign flipped by GSI)",
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@@ -401,15 +412,15 @@
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@@ -422,11 +433,22 @@
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-     0.0,
      -0.0,
+     0.0,
      0.0
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@@ -441,9 +463,9 @@
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@@ -458,10 +480,120 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "wrist_flip_suspect": []
+ },
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   "release_path": "actions/dynamic_recovery/DR09/session_010",
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actions/dynamic_recovery/DR09/session_012/meta.json

@@ -425,19 +425,26 @@
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@@ -445,15 +452,15 @@
      "LHandOut"
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@@ -501,7 +519,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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actions/dynamic_recovery/DR13/session_003/meta.json

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@@ -390,19 +390,30 @@
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@@ -411,9 +422,9 @@
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@@ -429,19 +440,30 @@
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@@ -449,15 +471,15 @@
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@@ -467,7 +489,7 @@
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@@ -511,6 +533,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
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  "release": {
   "release_path": "actions/dynamic_recovery/DR13/session_003",
   "family": "dynamic_recovery",

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actions/dynamic_recovery/DR13/session_004/meta.json

@@ -325,8 +325,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -392,14 +392,25 @@
     "status": "corrected",
     "Q_deg": 180.0,
     "Q_rotvec": [
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-     -0.80509
+     -3.02706,
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-    "wrist_bend_deg_median": 178.0,
-    "opposite_sign_bend_deg": 38.6,
-    "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": 1.0,
+     "inlier_spread_deg": 5.46,
+     "marker_Q_to_gsi_deg": {
+      "1": 165.1,
+      "-1": 19.2
+     }
+    },
+    "wrist_bend_deg_median": 174.1,
+    "opposite_sign_bend_deg": 9.3,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.13,
     "hand_vs_marker_frame_deg": {
      "before": 179.72,
@@ -410,15 +421,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -173.89,
      "wrist_twist_deg_after": {
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+      "median": -0.12,
       "iqr": [
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-       6.4
+       -2.2,
+       1.8
       ]
      },
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+     "wrist_total_deg_median_after": 40.1,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -437,6 +448,17 @@
      0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.997,
+     "inlier_spread_deg": 3.67,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 164.4
+     }
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     "opposite_sign_bend_deg": 176.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -451,7 +473,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
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       "iqr": [
@@ -467,7 +489,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:24:51.475356+00:00",
+   "generated_at_utc": "2026-11-06T13:54:19.342394+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -511,6 +533,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.0121201919055296
  },
+ "hands_registration": {
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+     0.2266,
+     0.0292
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+      "accepted": 4609,
+      "gate_deg": 30.0,
+      "offset_deg": 19.24,
+      "tier": "primary",
+      "dev_deg_median": 5.49,
+      "wrist_pos_err_mm_median": 39.2
+     }
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+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.58
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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/dynamic_recovery/DR13/session_004",
   "family": "dynamic_recovery",

actions/dynamic_recovery/DR13/session_004/motions/smplx.npz

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actions/dynamic_recovery/DR13/session_008/meta.json

@@ -383,8 +383,8 @@
   "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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@@ -449,10 +449,21 @@
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-    "opposite_sign_bend_deg": 15.2,
-    "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": 493,
+     "inlier_frac": 0.677,
+     "inlier_spread_deg": 14.18,
+     "marker_Q_to_gsi_deg": {
+      "1": 176.1,
+      "-1": 35.8
+     }
+    },
+    "wrist_bend_deg_median": 172.1,
+    "opposite_sign_bend_deg": 41.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.21,
     "hand_vs_marker_frame_deg": {
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@@ -463,15 +474,15 @@
      "LHandOut"
     ],
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      "wrist_twist_deg_after": {
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       "iqr": [
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-       0.6
+       -3.3,
+       3.1
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+     "wrist_total_deg_median_after": 15.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -484,11 +495,22 @@
     "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": 177.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -504,7 +526,7 @@
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      "wrist_twist_deg_after": {
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       "iqr": [
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        3.0
@@ -519,10 +541,120 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/dynamic_recovery/DR13/session_008",
   "family": "dynamic_recovery",

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actions/environment_coupled_wholebody/EC01/session_001/meta.json

@@ -325,8 +325,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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@@ -391,10 +391,21 @@
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-    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
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@@ -405,15 +416,15 @@
      "LHandOut"
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       "LForearm",
       "LWristIn",
@@ -431,6 +442,17 @@
      0.0
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -446,7 +468,7 @@
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@@ -461,7 +483,7 @@
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@@ -505,6 +527,116 @@
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@@ -535,6 +557,116 @@
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@@ -394,15 +405,15 @@
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@@ -450,7 +472,7 @@
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
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   "release_path": "actions/environment_coupled_wholebody/EC04/session_001",
   "family": "environment_coupled_wholebody",

actions/environment_coupled_wholebody/EC04/session_001/motions/smplx.npz

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actions/environment_coupled_wholebody/EC07/session_001/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": {
@@ -410,10 +410,21 @@
      0.26943,
      0.80116
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-    "opposite_sign_bend_deg": 25.4,
-    "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": 0.975,
+     "inlier_spread_deg": 7.2,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 3.7
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+    "opposite_sign_bend_deg": 39.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.76,
     "hand_vs_marker_frame_deg": {
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@@ -424,15 +435,15 @@
      "LHandOut"
     ],
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      "wrist_twist_deg_after": {
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       "iqr": [
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-       4.2
+       -5.3,
+       1.0
       ]
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+     "wrist_total_deg_median_after": 25.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -447,9 +458,20 @@
     "Q_rotvec": [
      -0.0,
      -0.0,
-     0.0
+     -0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
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+     "reliable": true,
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+     "inlier_frac": 0.994,
+     "inlier_spread_deg": 6.26,
+     "marker_Q_to_gsi_deg": {
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     "opposite_sign_bend_deg": 175.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -480,7 +502,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:14:40.153586+00:00",
+   "generated_at_utc": "2026-11-06T13:35:51.645902+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -524,6 +546,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8853876925925545
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+  "wrist_flip_suspect": []
+ },
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   "release_path": "actions/environment_coupled_wholebody/EC07/session_001",
   "family": "environment_coupled_wholebody",

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