GSI hands registered into SMPL-X for 512 sessions; GSI-arbitrated wrist orientation (part 6)

actions/locomotion_primitives/P31/session_046/motions/smplx.npz

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actions/locomotion_primitives/P31/session_047/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
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-    "in_out_sign": 1,
-    "wrist_bend_deg_median": 175.9,
-    "opposite_sign_bend_deg": 20.8,
-    "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": 0.904,
+     "inlier_spread_deg": 8.36,
+     "marker_Q_to_gsi_deg": {
+      "1": 170.0,
+      "-1": 13.6
+     }
+    },
+    "wrist_bend_deg_median": 175.7,
+    "opposite_sign_bend_deg": 25.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.76,
     "hand_vs_marker_frame_deg": {
      "before": 179.62,
@@ -409,15 +420,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -175.5,
      "wrist_twist_deg_after": {
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+      "median": -0.11,
       "iqr": [
-       -2.1,
-       2.1
+       -1.8,
+       1.2
       ]
      },
-     "wrist_total_deg_median_after": 25.5,
+     "wrist_total_deg_median_after": 20.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -428,19 +439,30 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 0.0,
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     "Q_rotvec": [
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-     -0.0,
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+     -0.85422
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-    "opposite_sign_bend_deg": 178.0,
-    "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": 0.954,
+     "inlier_spread_deg": 9.62,
+     "marker_Q_to_gsi_deg": {
+      "1": 176.7,
+      "-1": 14.2
+     }
+    },
+    "wrist_bend_deg_median": 178.0,
+    "opposite_sign_bend_deg": 15.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.63,
     "hand_vs_marker_frame_deg": {
-     "before": 0.63,
+     "before": 179.81,
      "after": 0.63
     },
     "markers_on_wrist": [
@@ -448,15 +470,15 @@
      "RHandOut"
     ],
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       "iqr": [
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+       -0.4,
+       1.1
       ]
      },
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+     "wrist_total_deg_median_after": 21.3,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -465,7 +487,7 @@
     },
     "frames_used": 1500
    },
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+   "generated_at_utc": "2026-11-06T13:48:50.339314+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": 1.298744178891356
  },
+ "hands_registration": {
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+      "offset_deg": 11.24,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 61.9
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+     "mean_hand": 740,
+     "no_body_fit": 0
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+     "smplx": 0.66
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+      "p90": 9.9
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+    "wrist_pos_err_mm_median": 263.7,
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+      "accepted": 3032,
+      "gate_deg": 30.0,
+      "offset_deg": 13.15,
+      "tier": "primary",
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+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T14:53:52.043168+00:00",
+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P31/session_047",
   "family": "locomotion_primitives",

actions/locomotion_primitives/P31/session_047/motions/smplx.npz

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actions/locomotion_primitives/P31/session_048/meta.json

@@ -329,8 +329,8 @@
   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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@@ -393,12 +393,23 @@
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-    "opposite_sign_bend_deg": 27.1,
-    "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": {
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+     "inlier_frac": 0.987,
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+      "-1": 10.4
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+    "opposite_sign_bend_deg": 21.0,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
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@@ -409,15 +420,15 @@
      "LHandOut"
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       "LForearm",
@@ -429,19 +440,30 @@
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+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
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@@ -449,15 +471,15 @@
      "RHandOut"
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@@ -466,7 +488,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  },
@@ -510,6 +532,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
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+  "generated_by": "scripts/register_hands_smplx.py",
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+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomotion_primitives/P31/session_048",
   "family": "locomotion_primitives",

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actions/locomotion_primitives/P31/session_049/meta.json

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   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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@@ -392,14 +392,25 @@
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+    "q_source": "markers (sign flipped by GSI)",
+    "gsi": {
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@@ -410,15 +421,15 @@
      "LHandOut"
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+     0.0,
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      0.0
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@@ -466,7 +488,7 @@
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@@ -510,6 +532,116 @@
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@@ -462,19 +462,30 @@
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@@ -482,12 +493,12 @@
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@@ -523,23 +545,133 @@
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actions/locomotion_primitives/P32/session_003/meta.json

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@@ -400,20 +400,31 @@
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@@ -422,15 +433,15 @@
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@@ -461,7 +483,7 @@
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actions/locomotion_primitives/P32/session_004/meta.json

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@@ -463,7 +485,7 @@
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@@ -422,15 +433,15 @@
      "LHandOut"
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@@ -443,11 +454,22 @@
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@@ -478,7 +500,7 @@
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@@ -558,6 +580,116 @@
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actions/locomotion_primitives/P32/session_048/meta.json

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actions/locomotion_primitives/P32/session_049/meta.json

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@@ -422,15 +433,15 @@
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@@ -461,9 +483,9 @@
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@@ -478,7 +500,7 @@
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@@ -429,13 +440,24 @@
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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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@@ -425,15 +432,15 @@
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@@ -410,15 +421,15 @@
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actions/locomotion_primitives/P41/session_002/meta.json

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+       -18.4,
+       0.8
       ]
      },
-     "wrist_total_deg_median_after": 36.5,
+     "wrist_total_deg_median_after": 29.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -476,6 +487,17 @@
      -0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.949,
+     "inlier_spread_deg": 11.01,
+     "marker_Q_to_gsi_deg": {
+      "1": 6.8,
+      "-1": 179.9
+     }
+    },
     "wrist_bend_deg_median": 19.9,
     "opposite_sign_bend_deg": 174.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -506,10 +528,120 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:46:29.107814+00:00",
+   "generated_at_utc": "2026-11-06T14:11:24.454653+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 14.03,
+    "offset_rotvec": [
+     0.0786,
+     -0.23,
+     -0.0296
+    ],
+    "dev_deg": {
+     "median": 10.1,
+     "p90": 18.19
+    },
+    "samples": 5045,
+    "accepted": 4930,
+    "wrist_pos_err_mm_median": 41.9,
+    "per_camera": {
+     "head": {
+      "samples": 5045,
+      "accepted": 4930,
+      "gate_deg": 30.0,
+      "offset_deg": 14.03,
+      "tier": "primary",
+      "dev_deg_median": 10.1,
+      "wrist_pos_err_mm_median": 41.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 19802,
+     "interpolated": 858,
+     "mean_hand": 765,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.964,
+    "observed_fraction_of_valid": 0.9643,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 15.63,
+     "smplx": 1.44
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.9,
+      "p90": 7.5
+     },
+     "registered": {
+      "median": 5.9,
+      "p90": 7.9
+     }
+    }
+   },
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+    "offset_rotvec": [
+     -0.0195,
+     0.0419,
+     0.1092
+    ],
+    "dev_deg": {
+     "median": 11.49,
+     "p90": 22.66
+    },
+    "samples": 5081,
+    "accepted": 4826,
+    "wrist_pos_err_mm_median": 47.5,
+    "per_camera": {
+     "head": {
+      "samples": 5081,
+      "accepted": 4826,
+      "gate_deg": 30.0,
+      "offset_deg": 6.79,
+      "tier": "primary",
+      "dev_deg_median": 11.49,
+      "wrist_pos_err_mm_median": 47.5
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 19436,
+     "interpolated": 1300,
+     "mean_hand": 689,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.9675,
+    "observed_fraction_of_valid": 0.9678,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 9.75,
+     "smplx": 2.57
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 6.8,
+      "p90": 8.4
+     },
+     "registered": {
+      "median": 6.3,
+      "p90": 7.7
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T15:40:31.447189+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/long_horizon_composite/LH01/session_007",
   "family": "long_horizon_composite",

actions/long_horizon_composite/LH01/session_007/motions/smplx.npz

@@ -1,3 +1,3 @@
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-oid sha256:188e54261fb1a31bdc7c453b19f2d1e76b05812f89d7ed856868df7202023f9d
-size 8252436
+oid sha256:b39ea5a4019a8d52a23248ccd5de2279c94db204846912c9af0621aec9cc1eb7
+size 15270238

actions/long_horizon_composite/LH02/session_007/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": {
@@ -435,19 +435,30 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 0.0,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     0.0,
-     -0.0,
-     0.0
+     -2.98662,
+     0.4392,
+     0.86995
     ],
-    "in_out_sign": 1,
-    "wrist_bend_deg_median": 44.1,
-    "opposite_sign_bend_deg": 150.8,
-    "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": 0.947,
+     "inlier_spread_deg": 11.64,
+     "marker_Q_to_gsi_deg": {
+      "1": 175.0,
+      "-1": 9.5
+     }
+    },
+    "wrist_bend_deg_median": 170.7,
+    "opposite_sign_bend_deg": 38.7,
+    "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": 3.0,
+     "before": 178.97,
      "after": 3.0
     },
     "markers_on_wrist": [
@@ -456,15 +467,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 22.51,
+     "twist_moved_deg": -167.16,
      "wrist_twist_deg_after": {
-      "median": 0.01,
+      "median": -5.95,
       "iqr": [
-       -8.7,
-       4.8
+       -14.4,
+       -1.0
       ]
      },
-     "wrist_total_deg_median_after": 39.8,
+     "wrist_total_deg_median_after": 23.1,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -477,11 +488,22 @@
     "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": 0.932,
+     "inlier_spread_deg": 12.88,
+     "marker_Q_to_gsi_deg": {
+      "1": 8.4,
+      "-1": 175.0
+     }
+    },
     "wrist_bend_deg_median": 15.6,
     "opposite_sign_bend_deg": 176.7,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -496,7 +518,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.0,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -513,7 +535,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:46:29.480722+00:00",
+   "generated_at_utc": "2026-11-06T14:11:37.445500+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -553,6 +575,116 @@
   },
   "applied": 1
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 10.41,
+    "offset_rotvec": [
+     0.0773,
+     -0.1634,
+     -0.0194
+    ],
+    "dev_deg": {
+     "median": 12.18,
+     "p90": 20.81
+    },
+    "samples": 6139,
+    "accepted": 5812,
+    "wrist_pos_err_mm_median": 39.6,
+    "per_camera": {
+     "head": {
+      "samples": 6139,
+      "accepted": 5812,
+      "gate_deg": 30.0,
+      "offset_deg": 10.41,
+      "tier": "primary",
+      "dev_deg_median": 12.18,
+      "wrist_pos_err_mm_median": 39.6
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 23386,
+     "interpolated": 1906,
+     "mean_hand": 581,
+     "no_body_fit": 0
+    },
+    "observed_fraction": 0.9775,
+    "observed_fraction_of_valid": 0.9775,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.44,
+     "smplx": 1.73
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 5.8,
+      "p90": 7.0
+     },
+     "registered": {
+      "median": 5.6,
+      "p90": 7.4
+     }
+    }
+   },
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+    "offset_rotvec": [
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+     -0.0957,
+     0.0703
+    ],
+    "dev_deg": {
+     "median": 13.19,
+     "p90": 24.48
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+    "samples": 6032,
+    "accepted": 5623,
+    "wrist_pos_err_mm_median": 51.7,
+    "per_camera": {
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+      "accepted": 5623,
+      "gate_deg": 30.0,
+      "offset_deg": 8.47,
+      "tier": "primary",
+      "dev_deg_median": 13.19,
+      "wrist_pos_err_mm_median": 51.7
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 22632,
+     "interpolated": 2052,
+     "mean_hand": 1189,
+     "no_body_fit": 0
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+    "observed_fraction": 0.954,
+    "observed_fraction_of_valid": 0.954,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 11.91,
+     "smplx": 1.61
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 10.0,
+      "p90": 14.5
+     },
+     "registered": {
+      "median": 9.1,
+      "p90": 12.2
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T15:40:47.038655+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/long_horizon_composite/LH02/session_007",
   "family": "long_horizon_composite",