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actions/locomanipulation/LM38/session_004/meta.json

@@ -386,19 +386,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 176.03,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -3.03974,
-     0.24221,
-     0.37444
+     -2.98794,
+     0.42773,
+     0.87113
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 162.0,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 169.1,
     "opposite_sign_bend_deg": 39.6,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.77,
     "hand_vs_marker_frame_deg": {
-     "before": 176.14,
+     "before": 179.39,
      "after": 2.77
     },
     "markers_on_wrist": [
@@ -406,15 +406,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -154.31,
+     "twist_moved_deg": 137.83,
      "wrist_twist_deg_after": {
-      "median": -7.86,
+      "median": 41.4,
       "iqr": [
-       -21.0,
-       2.9
+       29.4,
+       51.7
       ]
      },
-     "wrist_total_deg_median_after": 39.4,
+     "wrist_total_deg_median_after": 52.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -425,19 +425,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 45.91,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.22112,
-     0.72631,
-     -0.25631
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 54.9,
-    "opposite_sign_bend_deg": 142.9,
+    "wrist_bend_deg_median": 36.7,
+    "opposite_sign_bend_deg": 166.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 6.74,
     "hand_vs_marker_frame_deg": {
-     "before": 46.77,
+     "before": 6.74,
      "after": 6.74
     },
     "markers_on_wrist": [
@@ -445,9 +445,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -43.98,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -13.7,
        16.7
@@ -462,7 +462,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T07:12:26.064829+00:00",
+   "generated_at_utc": "2026-10-28T06:22:40.312691+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM38/session_004/motions/smplx.npz

@@ -1,3 +1,3 @@
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actions/locomanipulation/LM38/session_005/meta.json

@@ -317,7 +317,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-15T07:13:17.805131+00:00",
+  "generated_at_utc": "2026-10-27T15:48:09.921777+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -332,46 +332,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
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-      0.009690502658486366,
-      0.04094565659761429
+      0.04427170380949974,
+      0.0056624505668878555,
+      0.0445338636636734
      ],
      "LHandOut": [
-      0.06447926163673401,
-      0.009320494718849659,
-      -0.018599949777126312
+      0.06350991129875183,
+      0.017713090404868126,
+      -0.013137084431946278
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     "right": {
      "RHandIn": [
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-      0.012122662737965584,
-      0.034566931426525116
+      -0.03307933732867241,
+      0.012780167162418365,
+      0.034638598561286926
      ],
      "RHandOut": [
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-      0.02675595134496689,
-      -0.013698764145374298
+      -0.05529196932911873,
+      0.027246788144111633,
+      -0.013474472798407078
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     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.71,
-   "p95_frame": 9.45
+   "median_frame": 5.66,
+   "p95_frame": 10.65
   },
   "worst_markers": [
-   "LWristIn 19mm",
-   "LWristOut 13mm",
-   "LKneeIn 11mm",
-   "RKneeIn 11mm",
-   "LThigh 11mm"
+   "LWristIn 18mm",
+   "LWristOut 15mm",
+   "LForearm 13mm",
+   "LKneeIn 12mm",
+   "RKneeIn 11mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 7.1,
-    "p5": 1.8
+    "median": 7.4,
+    "p5": 2.3
    },
    "frames_checked": 497,
    "stature_mm": 1598.8
@@ -380,77 +380,77 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 10.92
+   "surface_rmse_mm_median": 10.8
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 173.95,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -3.03148,
-     0.16624,
-     -0.01597
+     0.0,
+     -0.0,
+     0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 140.1,
-    "opposite_sign_bend_deg": 63.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 7.17,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 39.5,
+    "opposite_sign_bend_deg": 162.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 5.11,
     "hand_vs_marker_frame_deg": {
-     "before": 173.87,
-     "after": 7.17
+     "before": 5.11,
+     "after": 5.11
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -131.38,
+     "twist_moved_deg": 4.02,
      "wrist_twist_deg_after": {
-      "median": -10.27,
+      "median": 0.19,
       "iqr": [
-       -39.4,
-       2.7
+       -22.6,
+       13.7
       ]
      },
-     "wrist_total_deg_median_after": 48.5,
+     "wrist_total_deg_median_after": 40.8,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1489
+    "frames_used": 1453
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    "right": {
     "status": "corrected",
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+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.72554,
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+     0.0,
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+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 66.2,
-    "opposite_sign_bend_deg": 130.6,
+    "wrist_bend_deg_median": 39.4,
+    "opposite_sign_bend_deg": 167.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.93,
+    "marker_frame_spread_deg": 5.97,
     "hand_vs_marker_frame_deg": {
-     "before": 46.28,
-     "after": 5.93
+     "before": 5.97,
+     "after": 5.97
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     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
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      "wrist_twist_deg_after": {
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+      "median": -0.0,
       "iqr": [
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+       -15.7,
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      },
      "wrist_total_deg_median_after": 39.4,
@@ -462,7 +462,7 @@
     },
     "frames_used": 1489
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-   "generated_at_utc": "2026-10-15T07:13:20.677572+00:00",
+   "generated_at_utc": "2026-10-28T06:22:40.863077+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -506,6 +506,48 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.7913169131917283
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:50:45.303241+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2560,
+    "frames_flipped": 366,
+    "stretches": [
+     {
+      "t0": 76.65,
+      "t1": 87.22,
+      "dur_s": 10.57,
+      "marker_turn_deg": 21.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 139.2,
+      "err_swapped_deg": 28.8,
+      "calib_err_deg": 14.6,
+      "applied": true
+     },
+     {
+      "t0": 88.92,
+      "t1": 96.15,
+      "dur_s": 7.23,
+      "marker_turn_deg": 96.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 144.9,
+      "err_swapped_deg": 65.8,
+      "calib_err_deg": 14.6,
+      "applied": false
+     }
+    ]
+   },
+   "right": {
+    "status": "no IMU / GSI evidence"
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM38/session_005",
   "family": "locomanipulation",

actions/locomanipulation/LM38/session_005/motions/markers.npz

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actions/locomanipulation/LM38/session_005/motions/smplx.npz

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