GSI hands registered into SMPL-X for 512 sessions; GSI-arbitrated wrist orientation (part 3)

actions/locomanipulation/LM25/session_011/motions/smplx.npz

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actions/locomanipulation/LM25/session_029/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": {
@@ -449,35 +449,46 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 102.89,
     "Q_rotvec": [
-     2.98315,
-     -0.44501,
-     -0.87886
+     1.75054,
+     -0.38857,
+     -0.09811
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 169.9,
-    "opposite_sign_bend_deg": 21.6,
+    "q_source": "gsi (no marker candidate within 45 deg)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.588,
+     "inlier_spread_deg": 9.94,
+     "marker_Q_to_gsi_deg": {
+      "1": 102.9,
+      "-1": 81.1
+     }
+    },
+    "wrist_bend_deg_median": 99.6,
+    "opposite_sign_bend_deg": 162.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.96,
     "hand_vs_marker_frame_deg": {
-     "before": 177.3,
-     "after": 5.96
+     "before": 5.96,
+     "after": 101.89
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": 95.57,
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+      "median": 0.12,
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-       -16.9,
-       2.6
+       -4.8,
+       13.5
       ]
      },
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+     "wrist_total_deg_median_after": 33.1,
      "markers_on_forearm": [
       "LElbow",
       "LElbowIn",
@@ -492,11 +503,22 @@
     "status": "corrected",
     "Q_deg": 0.0,
     "Q_rotvec": [
-     0.0,
-     0.0,
+     -0.0,
+     -0.0,
      -0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.921,
+     "inlier_spread_deg": 11.57,
+     "marker_Q_to_gsi_deg": {
+      "1": 28.5,
+      "-1": 153.4
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     "opposite_sign_bend_deg": 177.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -510,9 +532,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -1.6,
        2.1
@@ -527,10 +549,120 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:38:19.670605+00:00",
+   "generated_at_utc": "2026-11-06T14:03:27.173529+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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+     -0.0261,
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+     "p90": 76.32
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+    "accepted": 1844,
+    "wrist_pos_err_mm_median": 52.4,
+    "per_camera": {
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+      "accepted": 1844,
+      "gate_deg": 30.0,
+      "offset_deg": 3.85,
+      "tier": "primary",
+      "dev_deg_median": 18.77,
+      "wrist_pos_err_mm_median": 52.4
+     }
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+     "interpolated": 1994,
+     "mean_hand": 5572,
+     "no_body_fit": 0
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+    "observed_fraction": 0.6286,
+    "observed_fraction_of_valid": 0.6286,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 81.39
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+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 17.2,
+      "p90": 35.3
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+      "p90": 32.1
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+     0.0319
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+      "gate_deg": 30.0,
+      "offset_deg": 28.8,
+      "tier": "primary",
+      "dev_deg_median": 12.49,
+      "wrist_pos_err_mm_median": 70.9
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+     "interpolated": 2884,
+     "mean_hand": 360,
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+    "observed_fraction_of_valid": 0.976,
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+     "smplx": 0.91
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+    "hand_marker_to_mesh_mm": {
+     "flat": {
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+      "p90": 9.6
+     },
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+      "p90": 9.5
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+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T15:24:43.838161+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM25/session_029",
   "family": "locomanipulation",

actions/locomanipulation/LM25/session_029/motions/smplx.npz

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actions/locomanipulation/LM25/session_030/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",
    "hand_marker_offsets_m": {
     "left": {
@@ -443,19 +443,30 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 0.0,
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-     -0.44501,
-     -0.87886
+     0.0,
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+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 178.9,
-    "opposite_sign_bend_deg": 33.1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 2954,
+     "inlier_frac": 0.9,
+     "inlier_spread_deg": 11.84,
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+      "-1": 145.9
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+    "opposite_sign_bend_deg": 175.7,
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     "hand_vs_marker_frame_deg": {
-     "before": 179.3,
+     "before": 1.13,
      "after": 1.13
     },
     "markers_on_wrist": [
@@ -463,15 +474,15 @@
      "LHandOut"
     ],
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+       1.0
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       "LElbow",
       "LForearm",
@@ -483,35 +494,46 @@
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+      "-1": 76.3
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     "opposite_sign_bend_deg": 175.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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      "RHandIn",
      "RHandOut"
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       "RWristIn",
@@ -520,10 +542,120 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
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+     "p90": 29.73
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+    "wrist_pos_err_mm_median": 42.3,
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+      "gate_deg": 30.0,
+      "offset_deg": 40.88,
+      "tier": "primary",
+      "dev_deg_median": 12.94,
+      "wrist_pos_err_mm_median": 42.3
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+    "frames_by_state": {
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+     "interpolated": 2962,
+     "mean_hand": 992,
+     "no_body_fit": 8
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+    "observed_fraction": 0.9328,
+    "observed_fraction_of_valid": 0.9333,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 1.0
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+      "tier": "primary",
+      "dev_deg_median": 20.88,
+      "wrist_pos_err_mm_median": 69.8
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+     "interpolated": 4888,
+     "mean_hand": 1149,
+     "no_body_fit": 8
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+    "observed_fraction": 0.9223,
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+    "palm_axis_vs_markers_deg": {
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+    "hand_marker_to_mesh_mm": {
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+      "p90": 23.8
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  "generated_at_utc": "2026-11-06T15:24:56.235704+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM25/session_030",
   "family": "locomanipulation",

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actions/locomanipulation/LM26/session_006/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",
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@@ -397,10 +397,21 @@
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-    "opposite_sign_bend_deg": 12.3,
-    "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": 0.997,
+     "inlier_spread_deg": 6.3,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 11.8
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+    },
+    "wrist_bend_deg_median": 174.5,
+    "opposite_sign_bend_deg": 28.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.24,
     "hand_vs_marker_frame_deg": {
      "before": 179.26,
@@ -411,15 +422,15 @@
      "LHandOut"
     ],
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+       1.7
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      "markers_on_forearm": [
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       "LWristIn",
@@ -432,11 +443,22 @@
     "status": "corrected",
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-     -0.0,
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+     0.0,
+     -0.0
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -451,7 +473,7 @@
      "RHandOut"
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@@ -467,7 +489,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  },
@@ -511,6 +533,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.272375736816195
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+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 45.8
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+     "interpolated": 84,
+     "mean_hand": 5,
+     "no_body_fit": 8
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+    "observed_fraction": 0.999,
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.98
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+    "hand_marker_to_mesh_mm": {
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actions/locomanipulation/LM27/session_012/meta.json

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@@ -456,9 +467,9 @@
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@@ -474,19 +485,30 @@
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@@ -521,10 +543,120 @@
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actions/locomanipulation/LM28/session_023/meta.json

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@@ -460,15 +471,15 @@
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@@ -499,9 +521,9 @@
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@@ -516,10 +538,120 @@
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actions/locomanipulation/LM28/session_027/meta.json

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@@ -471,15 +482,15 @@
      "LHandOut"
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@@ -493,10 +504,21 @@
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      0.0,
-     -0.0,
-     0.0
+     0.0,
+     -0.0
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@@ -513,7 +535,7 @@
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@@ -528,7 +550,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -591,6 +613,116 @@
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actions/locomanipulation/LM29/session_016/meta.json

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@@ -451,14 +451,25 @@
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@@ -470,15 +481,15 @@
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@@ -526,10 +548,120 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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actions/locomanipulation/LM29/session_017/meta.json

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@@ -443,19 +443,30 @@
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@@ -463,15 +474,15 @@
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      0.0
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@@ -624,6 +646,116 @@
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actions/locomanipulation/LM31/session_001/meta.json

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@@ -406,15 +417,15 @@
      "LHandOut"
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       "LWristIn",
@@ -427,11 +438,22 @@
     "status": "corrected",
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+     0.0,
      -0.0,
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-     0.0
+     -0.0
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@@ -445,7 +467,7 @@
      "RHandOut"
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@@ -462,7 +484,7 @@
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@@ -506,6 +528,116 @@
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   "family": "locomanipulation",

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actions/locomanipulation/LM31/session_002/meta.json

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@@ -406,15 +417,15 @@
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@@ -462,7 +484,7 @@
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actions/locomanipulation/LM31/session_003/meta.json

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actions/locomanipulation/LM31/session_003/motions/smplx.npz

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actions/locomanipulation/LM31/session_015/meta.json

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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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@@ -459,15 +470,15 @@
      "LHandOut"
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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/locomanipulation/LM31/session_015",
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actions/locomanipulation/LM31/session_016/meta.json

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@@ -470,15 +481,15 @@
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      0.0
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actions/locomanipulation/LM31/session_017/meta.json

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@@ -438,19 +438,30 @@
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@@ -458,15 +469,15 @@
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@@ -450,14 +450,25 @@
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