Quest3 Hand tracking issue

[csjiyw]

I run the script teleop/teleop_hand.py [https://github.com/OpenTeleVision/TeleVision]
It use vuer for hand tracking. the device is meta quest3.

async def on_hand_move(self, event, session, fps=60):
    try:
        self.left_hand_shared[:] = event.value["leftHand"]
        self.right_hand_shared[:] = event.value["rightHand"]
        self.left_landmarks_shared[:] = np.array(event.value["leftLandmarks"]).flatten()
        self.right_landmarks_shared[:] = np.array(event.value["rightLandmarks"]).flatten()
    except:
        pass

while right hand not in tracking, the value of event.value["rightHand"] will be unstable

[geyang]

@csjiyw This seems to be a user-land issue. Before I get into the details, here are some updates on the Hand API

• The Hand API has changed in the newest version of vuer v0.0.33 | Documentation.
• The new hand pose data returns the full transformation matrix of each of the landmarks. Giving you orientations in the wrist reference frame.

Explanations of behavior

When landmarks associated with a hand is not visible, the headset has built-in mechanism for inferring what they are.

We use the WRIST joint's isEmulated attribute to infer if the hand is out of view. If it is, I remove the hand pose from the message data and hide the hand visual component from view.

If other joints are emulated, I do not remove them. You can see Quest's hand pose estimation at play when a finger is occluded.

btw, @chengxuxin did you run into these issue?