GSI hands registered into SMPL-X for 512 sessions; GSI-arbitrated wrist orientation (part 7)

actions/static_manipulation/SM14/session_004/motions/smplx.npz

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actions/static_manipulation/SM14/session_008/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": {
@@ -425,19 +425,30 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 166.94,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.90836,
-     0.14956,
-     -0.09201
+     -2.98601,
+     0.43444,
+     0.87442
     ],
-    "in_out_sign": 1,
-    "wrist_bend_deg_median": 160.5,
-    "opposite_sign_bend_deg": 37.0,
-    "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": 0.825,
+     "inlier_spread_deg": 7.56,
+     "marker_Q_to_gsi_deg": {
+      "1": 178.6,
+      "-1": 15.2
+     }
+    },
+    "wrist_bend_deg_median": 173.0,
+    "opposite_sign_bend_deg": 16.3,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.4,
     "hand_vs_marker_frame_deg": {
-     "before": 167.26,
+     "before": 179.2,
      "after": 2.4
     },
     "markers_on_wrist": [
@@ -445,15 +456,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 158.55,
+     "twist_moved_deg": -167.16,
      "wrist_twist_deg_after": {
-      "median": 4.31,
+      "median": -5.13,
       "iqr": [
-       -1.6,
-       11.3
+       -11.9,
+       1.7
       ]
      },
-     "wrist_total_deg_median_after": 17.2,
+     "wrist_total_deg_median_after": 35.7,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -465,19 +476,30 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 104.94,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.7307,
-     0.58882,
-     0.11065
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 79.9,
-    "opposite_sign_bend_deg": 113.9,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.985,
+     "inlier_spread_deg": 7.86,
+     "marker_Q_to_gsi_deg": {
+      "1": 17.8,
+      "-1": 174.7
+     }
+    },
+    "wrist_bend_deg_median": 33.5,
+    "opposite_sign_bend_deg": 174.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.5,
     "hand_vs_marker_frame_deg": {
-     "before": 105.02,
+     "before": 4.5,
      "after": 4.5
     },
     "markers_on_wrist": [
@@ -485,9 +507,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -73.78,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -4.5,
        3.8
@@ -502,7 +524,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-29T05:39:29.454471+00:00",
+   "generated_at_utc": "2026-11-06T14:18:54.476440+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -597,6 +619,116 @@
   },
   "applied": 6
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
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+    "offset_rotvec": [
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+     0.2386,
+     -0.0199
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+     "p90": 120.56
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+    "accepted": 3440,
+    "wrist_pos_err_mm_median": 40.0,
+    "per_camera": {
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+      "accepted": 3440,
+      "gate_deg": 30.0,
+      "offset_deg": 15.05,
+      "tier": "primary",
+      "dev_deg_median": 11.79,
+      "wrist_pos_err_mm_median": 40.0
+     }
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+     "interpolated": 454,
+     "mean_hand": 3072,
+     "no_body_fit": 8
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+    "observed_fraction": 0.822,
+    "observed_fraction_of_valid": 0.8223,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 18.0,
+     "smplx": 1.82
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 29.2
+     },
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+     }
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+     0.0907
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+    "dev_deg": {
+     "median": 7.99,
+     "p90": 15.09
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+    "accepted": 4151,
+    "wrist_pos_err_mm_median": 26.5,
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+      "accepted": 4151,
+      "gate_deg": 30.0,
+      "offset_deg": 17.89,
+      "tier": "primary",
+      "dev_deg_median": 7.99,
+      "wrist_pos_err_mm_median": 26.5
+     }
+    },
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+     "interpolated": 626,
+     "mean_hand": 5,
+     "no_body_fit": 8
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+    "observed_fraction": 0.9992,
+    "observed_fraction_of_valid": 0.9997,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.72
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+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 25.6
+     },
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+      "p90": 25.6
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T15:55:39.236002+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/static_manipulation/SM14/session_008",
   "family": "static_manipulation",

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actions/static_manipulation/SM15/session_001/meta.json

@@ -323,8 +323,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -395,14 +395,25 @@
     "status": "corrected",
     "Q_deg": 180.0,
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-    "opposite_sign_bend_deg": 25.2,
-    "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": 3000,
+     "inlier_frac": 0.993,
+     "inlier_spread_deg": 5.47,
+     "marker_Q_to_gsi_deg": {
+      "1": 175.4,
+      "-1": 10.7
+     }
+    },
+    "wrist_bend_deg_median": 170.9,
+    "opposite_sign_bend_deg": 27.8,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.0,
     "hand_vs_marker_frame_deg": {
      "before": 178.43,
@@ -414,15 +425,15 @@
      "LHandOut"
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       "LForearm",
       "LWristOut"
@@ -434,11 +445,22 @@
     "status": "corrected",
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+     -0.0,
      0.0,
-     0.0,
-     0.0
+     -0.0
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -453,9 +475,9 @@
      "RHandOut"
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@@ -469,7 +491,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  },
@@ -513,6 +535,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.2407311486375565
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+    "wrist_pos_err_mm_median": 106.0,
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+      "gate_deg": 30.0,
+      "offset_deg": 9.03,
+      "tier": "primary",
+      "dev_deg_median": 6.91,
+      "wrist_pos_err_mm_median": 106.0
+     }
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+     "interpolated": 52,
+     "mean_hand": 12,
+     "no_body_fit": 0
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+    "observed_fraction": 0.9993,
+    "observed_fraction_of_valid": 0.9993,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.76
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+    "hand_marker_to_mesh_mm": {
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+     "smplx": 1.21
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+  "max_gap_s": 1.0,
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+  ],
+  "generated_at_utc": "2026-11-06T14:38:59.541483+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/static_manipulation/SM15/session_001",
   "family": "static_manipulation",

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actions/static_manipulation/SM15/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": {
@@ -430,19 +430,30 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
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+    "Q_deg": 180.0,
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-    "opposite_sign_bend_deg": 88.2,
-    "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": 3000,
+     "inlier_frac": 0.957,
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+     "marker_Q_to_gsi_deg": {
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+      "-1": 9.9
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+    "wrist_bend_deg_median": 174.1,
+    "opposite_sign_bend_deg": 19.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
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     "hand_vs_marker_frame_deg": {
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      "after": 2.69
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@@ -451,15 +462,15 @@
      "LHandOut"
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       "LForearm",
       "LWristIn"
@@ -469,19 +480,30 @@
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+    "q_source": "markers (GSI confirms)",
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+     "inlier_frac": 0.992,
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@@ -489,9 +511,9 @@
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@@ -506,7 +528,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -557,6 +579,116 @@
   },
   "applied": 1
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actions/static_manipulation/SM16/session_001/meta.json

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@@ -420,15 +431,15 @@
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@@ -475,7 +497,7 @@
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actions/static_manipulation/SM19/session_001/meta.json

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@@ -452,15 +463,15 @@
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@@ -469,19 +480,30 @@
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@@ -489,7 +511,7 @@
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@@ -506,7 +528,7 @@
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actions/static_manipulation/SM20/session_001/meta.json

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@@ -434,15 +445,15 @@
      "LHandOut"
     ],
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       "LWristIn",
@@ -453,19 +464,30 @@
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+     -0.0
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@@ -473,7 +495,7 @@
      "RHandOut"
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@@ -490,10 +512,120 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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+ },
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actions/static_manipulation/SM21/session_001/meta.json

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@@ -394,10 +394,21 @@
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@@ -408,15 +419,15 @@
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@@ -429,11 +440,22 @@
     "status": "corrected",
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@@ -447,7 +469,7 @@
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@@ -464,7 +486,7 @@
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@@ -508,6 +530,116 @@
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+ },
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   "release_path": "actions/static_manipulation/SM21/session_001",
   "family": "static_manipulation",

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actions/static_manipulation/SM22/session_001/meta.json

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@@ -420,15 +431,15 @@
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@@ -474,7 +496,7 @@
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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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@@ -408,10 +408,21 @@
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+    "q_source": "markers (sign flipped by GSI)",
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+     "reliable": true,
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@@ -424,15 +435,15 @@
      "LHandOut"
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+       -5.0,
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      ]
@@ -443,11 +454,22 @@
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+     0.0,
      0.0,
      0.0
     ],
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     "opposite_sign_bend_deg": 167.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -478,7 +500,7 @@
     },
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -522,6 +544,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+ },
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actions/static_manipulation/SM24/session_001/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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@@ -402,14 +402,25 @@
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@@ -420,15 +431,15 @@
      "LHandOut"
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@@ -459,7 +481,7 @@
      "RHandOut"
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@@ -476,7 +498,7 @@
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   "release_path": "actions/static_manipulation/SM24/session_001",
   "family": "static_manipulation",

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actions/static_manipulation/SM24/session_005/meta.json

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@@ -450,15 +461,15 @@
      "LHandOut"
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -403,15 +414,15 @@
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@@ -414,15 +425,15 @@
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@@ -452,9 +474,9 @@
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@@ -469,7 +491,7 @@
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actions/static_manipulation/SM33/session_007/meta.json

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@@ -464,7 +486,7 @@
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actions/static_manipulation/SM34/session_006/meta.json

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@@ -438,19 +438,30 @@
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actions/static_manipulation/SM35/session_001/meta.json

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