GSI hands registered into SMPL-X for 512 sessions; GSI-arbitrated wrist orientation (part 4)

actions/locomanipulation/LM47/session_002/motions/smplx.npz

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actions/locomanipulation/LM47/session_003/meta.json

@@ -338,8 +338,8 @@
   "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": {
@@ -410,14 +410,25 @@
     "status": "corrected",
     "Q_deg": 180.0,
     "Q_rotvec": [
-     -3.02575,
-     0.26943,
-     0.80116
+     3.02575,
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-    "wrist_bend_deg_median": 170.1,
-    "opposite_sign_bend_deg": 25.1,
-    "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": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.96,
+     "inlier_spread_deg": 8.73,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 13.2
+     }
+    },
+    "wrist_bend_deg_median": 163.1,
+    "opposite_sign_bend_deg": 35.3,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.75,
     "hand_vs_marker_frame_deg": {
      "before": 177.94,
@@ -429,15 +440,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -159.76,
      "wrist_twist_deg_after": {
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+      "median": -3.44,
       "iqr": [
-       1.9,
-       19.6
+       -12.4,
+       7.8
       ]
      },
-     "wrist_total_deg_median_after": 35.3,
+     "wrist_total_deg_median_after": 25.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristOut"
@@ -450,10 +461,21 @@
     "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": 0.959,
+     "inlier_spread_deg": 7.56,
+     "marker_Q_to_gsi_deg": {
+      "1": 5.4,
+      "-1": 176.4
+     }
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     "opposite_sign_bend_deg": 174.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -484,7 +506,7 @@
     },
     "frames_used": 1308
    },
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+   "generated_at_utc": "2026-11-06T13:37:32.236357+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -528,6 +550,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8653516553873509
  },
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+     0.0253
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+    "wrist_pos_err_mm_median": 55.4,
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+      "accepted": 3001,
+      "gate_deg": 30.0,
+      "offset_deg": 12.88,
+      "tier": "primary",
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+      "wrist_pos_err_mm_median": 55.4
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+     "mean_hand": 348,
+     "no_body_fit": 8
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+    "observed_fraction_of_valid": 0.9734,
+    "palm_axis_vs_markers_deg": {
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+     "smplx": 2.62
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+      "offset_deg": 4.21,
+      "tier": "primary",
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+     "smplx": 1.84
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+  "max_gap_s": 1.0,
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+  "generated_at_utc": "2026-11-06T14:30:00.739378+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/LM47/session_003",
   "family": "locomanipulation",

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actions/locomanipulation/LM47/session_004/meta.json

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   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
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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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@@ -396,14 +396,25 @@
     "status": "corrected",
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-    "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,
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+     "inlier_frac": 0.957,
+     "inlier_spread_deg": 9.1,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 14.1
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+    "opposite_sign_bend_deg": 36.8,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.61,
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@@ -415,15 +426,15 @@
      "LHandOut"
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       "LWristOut"
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      0.0
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     "opposite_sign_bend_deg": 172.9,
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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/locomanipulation/LM47/session_004",
   "family": "locomanipulation",

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actions/locomanipulation/LM48/session_001/meta.json

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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,
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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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@@ -398,14 +398,25 @@
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+     "reliable": true,
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@@ -417,15 +428,15 @@
      "LHandOut"
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@@ -437,11 +448,22 @@
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-     -0.0,
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+     0.0,
+     0.0,
      0.0
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@@ -456,9 +478,9 @@
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@@ -449,6 +460,17 @@
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actions/locomanipulation/LM48/session_003/meta.json

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@@ -418,19 +418,30 @@
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@@ -439,15 +450,15 @@
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@@ -478,15 +500,15 @@
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@@ -495,10 +517,120 @@
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actions/locomanipulation/LM51/session_001/meta.json

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@@ -398,19 +398,30 @@
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@@ -460,7 +482,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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actions/locomanipulation/LM54/session_001/meta.json

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@@ -451,15 +462,15 @@
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@@ -438,15 +449,15 @@
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@@ -444,15 +455,15 @@
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      0.0,
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+     -1e-05,
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@@ -483,7 +505,7 @@
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@@ -499,7 +521,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -539,6 +561,116 @@
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@@ -446,19 +457,30 @@
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@@ -466,15 +488,15 @@
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@@ -483,7 +505,7 @@
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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@@ -596,6 +618,116 @@
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@@ -419,15 +430,15 @@
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@@ -445,6 +456,17 @@
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@@ -475,7 +497,7 @@
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@@ -519,6 +541,116 @@
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@@ -420,15 +431,15 @@
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actions/locomanipulation/LM60/session_004/meta.json

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   "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
   "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
   "hands": {
-   "observed": false,
-   "hand_pose": "flat (zeros, flat_hand_mean=True)",
+   "observed": true,
+   "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
    "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
    "hand_marker_offsets_m": {
     "left": {
@@ -386,19 +386,30 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 180.0,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -2.98601,
-     0.43444,
-     0.87442
+     -0.0,
+     -0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 176.3,
-    "opposite_sign_bend_deg": 23.6,
+    "q_source": "markers (GSI confirms)",
+    "gsi": {
+     "reliable": true,
+     "frames": 3000,
+     "inlier_frac": 0.907,
+     "inlier_spread_deg": 13.55,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 148.4
+     }
+    },
+    "wrist_bend_deg_median": 21.1,
+    "opposite_sign_bend_deg": 175.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.66,
     "hand_vs_marker_frame_deg": {
-     "before": 179.81,
+     "before": 0.66,
      "after": 0.66
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@@ -406,12 +417,12 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -0.66,
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+      "median": -0.0,
       "iqr": [
-       -2.4,
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+       -1.7,
+       1.5
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      "wrist_total_deg_median_after": 21.1,
@@ -426,19 +437,30 @@
    },
    "right": {
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+    "Q_deg": 180.0,
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-     0.0,
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+     0.87581
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-    "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": 2872,
+     "inlier_frac": 0.883,
+     "inlier_spread_deg": 11.25,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 17.4
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+    },
+    "wrist_bend_deg_median": 173.0,
+    "opposite_sign_bend_deg": 34.1,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.68,
     "hand_vs_marker_frame_deg": {
-     "before": 1.68,
+     "before": 179.38,
      "after": 1.68
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     "markers_on_wrist": [
@@ -446,15 +468,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.64,
+     "twist_moved_deg": 172.22,
      "wrist_twist_deg_after": {
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+      "median": 0.46,
       "iqr": [
-       -3.2,
-       3.3
+       -2.2,
+       3.5
       ]
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+     "wrist_total_deg_median_after": 25.4,
      "markers_on_forearm": [
       "RElbow",
       "RElbowIn",
@@ -465,7 +487,7 @@
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-   "generated_at_utc": "2026-10-28T06:24:05.968222+00:00",
+   "generated_at_utc": "2026-11-06T13:53:30.035215+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": 0.8327641943517947
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+    "accepted": 2690,
+    "wrist_pos_err_mm_median": 134.1,
+    "per_camera": {
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+      "gate_deg": 30.0,
+      "offset_deg": 29.58,
+      "tier": "primary",
+      "dev_deg_median": 12.34,
+      "wrist_pos_err_mm_median": 134.1
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+     "mean_hand": 25,
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+    "palm_axis_vs_markers_deg": {
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+     "smplx": 0.44
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+      "p90": 17.9
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+      "offset_deg": 19.6,
+      "tier": "primary",
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+     "smplx": 0.94
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+      "p90": 7.6
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+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
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+  ],
+  "generated_at_utc": "2026-11-06T15:02:28.646700+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/LM60/session_004",
   "family": "locomanipulation",

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actions/locomanipulation/LM60/session_005/meta.json

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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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@@ -395,14 +395,25 @@
     "status": "corrected",
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-    "opposite_sign_bend_deg": 25.7,
-    "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": 3000,
+     "inlier_frac": 0.974,
+     "inlier_spread_deg": 4.85,
+     "marker_Q_to_gsi_deg": {
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+      "-1": 8.3
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+    },
+    "wrist_bend_deg_median": 176.7,
+    "opposite_sign_bend_deg": 13.4,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.78,
     "hand_vs_marker_frame_deg": {
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@@ -413,15 +424,15 @@
      "LHandOut"
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-       2.2
+       -2.1,
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      "markers_on_forearm": [
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       "LWristIn",
@@ -435,10 +446,21 @@
     "Q_deg": 0.0,
     "Q_rotvec": [
      0.0,
-     0.0,
+     -0.0,
      0.0
     ],
     "in_out_sign": 1,
+    "q_source": "markers (GSI confirms)",
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+     "inlier_spread_deg": 8.41,
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+     }
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     "opposite_sign_bend_deg": 176.5,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -470,7 +492,7 @@
     },
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-   "generated_at_utc": "2026-10-28T06:25:54.266430+00:00",
+   "generated_at_utc": "2026-11-06T13:58:31.135708+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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  },
@@ -514,6 +536,116 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7689042488834998
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+      "offset_deg": 14.0,
+      "tier": "primary",
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+  "generated_by": "scripts/register_hands_smplx.py",
+  "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
+  "wrist_flip_suspect": []
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM60/session_005",
   "family": "locomanipulation",

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actions/locomanipulation/LM61/session_005/meta.json

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     "hand_vs_marker_frame_deg": {
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+     "before": 1.21,
      "after": 1.21
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     "markers_on_wrist": [
@@ -407,15 +414,15 @@
      "LHandOut"
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+       2.8
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       "LWristIn",
@@ -429,10 +436,21 @@
     "Q_deg": 0.0,
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-     0.0,
+     -0.0,
      0.0
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     "in_out_sign": 1,
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    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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actions/locomanipulation/LM62/session_004/meta.json

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@@ -392,19 +392,30 @@
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@@ -412,15 +423,15 @@
      "LHandOut"
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-     "twist_moved_deg": 21.83,
+     "twist_moved_deg": 0.12,
      "wrist_twist_deg_after": {
-      "median": 0.12,
+      "median": -0.0,
       "iqr": [
-       -35.0,
-       39.9
+       -35.1,
+       39.8
       ]
      },
-     "wrist_total_deg_median_after": 76.4,
+     "wrist_total_deg_median_after": 76.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -474,10 +481,21 @@
     "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": 0.726,
+     "inlier_spread_deg": 11.99,
+     "marker_Q_to_gsi_deg": {
+      "1": 0.3,
+      "-1": 179.9
+     }
+    },
     "wrist_bend_deg_median": 31.7,
     "opposite_sign_bend_deg": 170.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -508,7 +526,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-28T06:46:57.558330+00:00",
+   "generated_at_utc": "2026-11-06T14:12:58.942949+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM65/session_003/motions/smplx.npz

@@ -1,3 +1,3 @@
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-oid sha256:4924d6521a950c582d49bece40da2c6a3b4b03ac50d41d4c9c20eb0515a0bae9
-size 5944065
+oid sha256:6e887ec28ee9dcbbc0cfb987f38141ab0cfa2ad46bfba78d47d2895ce048fb0d
+size 5943990

actions/locomanipulation/LM65/session_004/meta.json

@@ -353,8 +353,8 @@
   "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": {
@@ -413,19 +413,30 @@
   "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": 45.6,
-    "opposite_sign_bend_deg": 149.0,
-    "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": 0.787,
+     "inlier_spread_deg": 10.94,
+     "marker_Q_to_gsi_deg": {
+      "1": 175.6,
+      "-1": 5.5
+     }
+    },
+    "wrist_bend_deg_median": 173.1,
+    "opposite_sign_bend_deg": 39.6,
+    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.66,
     "hand_vs_marker_frame_deg": {
-     "before": 2.66,
+     "before": 179.04,
      "after": 2.66
     },
     "markers_on_wrist": [
@@ -433,15 +444,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 27.15,
+     "twist_moved_deg": -161.26,
      "wrist_twist_deg_after": {
-      "median": 0.01,
+      "median": -12.88,
       "iqr": [
-       -9.0,
-       7.4
+       -21.1,
+       -3.2
       ]
      },
-     "wrist_total_deg_median_after": 39.2,
+     "wrist_total_deg_median_after": 32.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -454,11 +465,22 @@
     "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": 0.87,
+     "inlier_spread_deg": 10.35,
+     "marker_Q_to_gsi_deg": {
+      "1": 8.2,
+      "-1": 177.5
+     }
+    },
     "wrist_bend_deg_median": 20.6,
     "opposite_sign_bend_deg": 175.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
@@ -472,7 +494,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -0.05,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -490,7 +512,7 @@
     },
     "frames_used": 1464
    },
-   "generated_at_utc": "2026-10-28T06:46:57.849823+00:00",
+   "generated_at_utc": "2026-11-06T14:13:09.836449+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -596,6 +618,116 @@
   },
   "applied": 7
  },
+ "hands_registration": {
+  "cameras": {},
+  "hands": {
+   "left": {
+    "offset_deg": 5.49,
+    "offset_rotvec": [
+     0.0647,
+     -0.0447,
+     -0.0548
+    ],
+    "dev_deg": {
+     "median": 13.45,
+     "p90": 57.86
+    },
+    "samples": 3267,
+    "accepted": 2563,
+    "wrist_pos_err_mm_median": 37.9,
+    "per_camera": {
+     "head": {
+      "samples": 3267,
+      "accepted": 2563,
+      "gate_deg": 30.0,
+      "offset_deg": 5.49,
+      "tier": "primary",
+      "dev_deg_median": 13.45,
+      "wrist_pos_err_mm_median": 37.9
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 10344,
+     "interpolated": 2096,
+     "mean_hand": 2197,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.8495,
+    "observed_fraction_of_valid": 0.8499,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 10.74,
+     "smplx": NaN
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": NaN,
+      "p90": NaN
+     },
+     "registered": {
+      "median": NaN,
+      "p90": NaN
+     }
+    }
+   },
+   "right": {
+    "offset_deg": 6.92,
+    "offset_rotvec": [
+     -0.0207,
+     -0.0937,
+     0.0733
+    ],
+    "dev_deg": {
+     "median": 11.9,
+     "p90": 33.34
+    },
+    "samples": 3173,
+    "accepted": 2794,
+    "wrist_pos_err_mm_median": 41.0,
+    "per_camera": {
+     "head": {
+      "samples": 3173,
+      "accepted": 2794,
+      "gate_deg": 30.0,
+      "offset_deg": 6.92,
+      "tier": "primary",
+      "dev_deg_median": 11.9,
+      "wrist_pos_err_mm_median": 41.0
+     }
+    },
+    "frames_by_state": {
+     "ace_sample": 11278,
+     "interpolated": 2034,
+     "mean_hand": 1325,
+     "no_body_fit": 7
+    },
+    "observed_fraction": 0.909,
+    "observed_fraction_of_valid": 0.9095,
+    "palm_axis_vs_markers_deg": {
+     "gsi": 12.21,
+     "smplx": 1.7
+    },
+    "hand_marker_to_mesh_mm": {
+     "flat": {
+      "median": 8.2,
+      "p90": 12.2
+     },
+     "registered": {
+      "median": 7.0,
+      "p90": 10.3
+     }
+    }
+   }
+  },
+  "max_dev_deg": 30.0,
+  "max_gap_s": 1.0,
+  "cameras_used": [
+   "head"
+  ],
+  "generated_at_utc": "2026-11-06T15:44:34.447586+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/LM65/session_004",
   "family": "locomanipulation",