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actions/locomanipulation/LM11/session_037/meta.json

@@ -383,7 +383,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-23T07:24:42.479441+00:00",
+  "generated_at_utc": "2026-10-27T18:09:04.980953+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -398,51 +398,51 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.08199699968099594,
-      0.0036671566776931286,
-      -0.029748324304819107
+      0.08405671268701553,
+      0.0036597847938537598,
+      -0.03102751448750496
      ],
      "LHandOut": [
-      0.0819292813539505,
-      0.011054989881813526,
-      0.008032320998609066
+      0.08411352336406708,
+      0.010665676556527615,
+      0.006972459144890308
      ]
     },
     "right": {
      "RHandIn": [
-      -0.04628033563494682,
-      -0.02542310766875744,
-      0.008673335425555706
+      -0.04615096002817154,
+      -0.02565767429769039,
+      0.008723982609808445
      ],
      "RHandOut": [
-      -0.0353347510099411,
-      0.004372553434222937,
-      0.05485343188047409
+      -0.03591921925544739,
+      0.004871445707976818,
+      0.05459321662783623
      ],
      "RWristOut": [
-      0.029689358547329903,
-      -0.018750574439764023,
-      0.027617361396551132
+      0.02957923151552677,
+      -0.017899146303534508,
+      0.028195858001708984
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 4.34,
-   "p95_frame": 10.47
+   "median_frame": 4.17,
+   "p95_frame": 9.88
   },
   "worst_markers": [
-   "RElbow 13mm",
    "RElbowIn 13mm",
+   "RElbow 13mm",
    "RKneeIn 12mm",
-   "LKneeIn 9mm",
+   "LKneeIn 10mm",
    "RThigh 8mm"
   ],
   "valid_fraction": 0.9977,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 14.1,
-    "p5": 3.4
+    "median": 14.6,
+    "p5": 3.8
    },
    "frames_checked": 511,
    "stature_mm": 1659.4
@@ -451,65 +451,66 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 12.79
+   "surface_rmse_mm_median": 13.76
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 25.75,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -0.06163,
-     -0.24746,
-     0.37012
+     -0.0,
+     0.0,
+     0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 27.5,
-    "opposite_sign_bend_deg": 166.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 1.23,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 34.5,
+    "opposite_sign_bend_deg": 174.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.08,
     "hand_vs_marker_frame_deg": {
-     "before": 25.69,
-     "after": 1.23
+     "before": 1.08,
+     "after": 1.08
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 20.3,
+     "twist_moved_deg": -0.09,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
-       -2.6,
-       1.7
+       -2.8,
+       1.5
       ]
      },
-     "wrist_total_deg_median_after": 18.9,
+     "wrist_total_deg_median_after": 34.6,
      "markers_on_forearm": [
+      "LElbow",
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1429
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 156.22,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.69998,
-     0.37827,
-     0.02592
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 137.6,
-    "opposite_sign_bend_deg": 62.0,
+    "wrist_bend_deg_median": 29.7,
+    "opposite_sign_bend_deg": 172.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 0.98,
+    "marker_frame_spread_deg": 0.92,
     "hand_vs_marker_frame_deg": {
-     "before": 156.12,
-     "after": 0.98
+     "before": 0.92,
+     "after": 0.92
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -517,15 +518,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -136.05,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
-       -0.5,
+       -0.6,
        0.8
       ]
      },
-     "wrist_total_deg_median_after": 29.6,
+     "wrist_total_deg_median_after": 29.7,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn"
@@ -533,14 +534,69 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T07:24:45.502066+00:00",
+   "generated_at_utc": "2026-10-28T06:43:53.616790+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:14.330420+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3279,
+    "frames_flipped": 311,
+    "stretches": [
+     {
+      "t0": 3.17,
+      "t1": 8.48,
+      "dur_s": 5.32,
+      "marker_turn_deg": 78.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 130.9,
+      "err_swapped_deg": 11.9,
+      "calib_err_deg": 3.7,
+      "applied": true
+     },
+     {
+      "t0": 114.2,
+      "t1": 124.62,
+      "dur_s": 10.42,
+      "marker_turn_deg": 128.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 119.3,
+      "err_swapped_deg": 4.2,
+      "calib_err_deg": 3.7,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3720,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 2
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM11/session_037",
   "family": "locomanipulation",
   "primitive": "LM11",
   "source_session": "20261020/LM11/20261020_103227_session36"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/locomanipulation/LM11/session_037/motions/markers.npz

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actions/locomanipulation/LM11/session_037/motions/object_markers.npz

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actions/locomanipulation/LM11/session_037/motions/objects.json

@@ -0,0 +1,42 @@
+{
+ "session": "20261020/LM11/20261020_103227_session36",
+ "generated_at_utc": "2026-10-28T10:27:56.365266+00:00",
+ "generated_by": "scripts/export_objects.py",
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
+ "instances": [
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox6",
+    "rms_mm": 1.23
+   },
+   "valid_pct": 99.59,
+   "verified_pct": 99.58,
+   "moving_pct": 96.79,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "LittleBox6"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM11/session_037/motions/objects.npz

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actions/locomanipulation/LM11/session_037/motions/smplx.npz

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