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actions/locomanipulation/LM38/session_008/meta.json

@@ -315,7 +315,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-15T10:54:11.142045+00:00",
+  "generated_at_utc": "2026-10-27T15:55:19.253692+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "male",
@@ -330,37 +330,37 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
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-      -0.02451440505683422,
-      -0.012617059051990509
+      0.06220601499080658,
+      -0.02515360899269581,
+      -0.01714368537068367
      ],
      "LHandOut": [
-      0.06608868390321732,
-      0.022368859499692917,
-      0.0028860592283308506
+      0.06741493940353394,
+      0.020469581708312035,
+      0.0012704848777502775
      ]
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     "right": {
      "RHandIn": [
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-      -0.0317067876458168,
-      0.019342131912708282
+      -0.062400829046964645,
+      -0.031992100179195404,
+      0.0182324405759573
      ],
      "RHandOut": [
-      -0.07114068418741226,
-      0.01780543103814125,
-      0.016589103266596794
+      -0.07135587930679321,
+      0.01764856092631817,
+      0.01754780486226082
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.48,
-   "p95_frame": 10.71
+   "median_frame": 5.3,
+   "p95_frame": 11.15
   },
   "worst_markers": [
-   "LForearm 14mm",
-   "LWristOut 12mm",
+   "LForearm 11mm",
+   "LWristOut 11mm",
    "RKneeIn 11mm",
    "LKneeIn 10mm",
    "LThigh 9mm"
@@ -368,8 +368,8 @@
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 7.1,
-    "p5": -0.9
+    "median": 4.9,
+    "p5": -3.5
    },
    "frames_checked": 537,
    "stature_mm": 1765.5
@@ -378,80 +378,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.81
+   "surface_rmse_mm_median": 13.34
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 68.29,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.11313,
-     -0.01675,
-     0.42562
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 72.8,
-    "opposite_sign_bend_deg": 112.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.33,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 20.9,
+    "opposite_sign_bend_deg": 168.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.11,
     "hand_vs_marker_frame_deg": {
-     "before": 68.73,
-     "after": 3.33
+     "before": 3.11,
+     "after": 3.11
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -65.4,
+     "twist_moved_deg": 0.01,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -14.2,
-       9.6
+       -13.1,
+       9.8
       ]
      },
-     "wrist_total_deg_median_after": 36.5,
+     "wrist_total_deg_median_after": 22.8,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1356
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    "right": {
     "status": "corrected",
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+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.43323,
-     0.23949
+     0.0,
+     0.0,
+     0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 83.6,
-    "opposite_sign_bend_deg": 107.1,
+    "wrist_bend_deg_median": 31.4,
+    "opposite_sign_bend_deg": 169.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.14,
+    "marker_frame_spread_deg": 3.05,
     "hand_vs_marker_frame_deg": {
-     "before": 95.45,
-     "after": 3.14
+     "before": 3.05,
+     "after": 3.05
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -77.54,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
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+      "median": 0.0,
       "iqr": [
        -9.6,
-       13.5
+       13.0
       ]
      },
-     "wrist_total_deg_median_after": 31.1,
+     "wrist_total_deg_median_after": 30.9,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -460,7 +460,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T10:54:14.067154+00:00",
+   "generated_at_utc": "2026-10-28T06:25:44.600599+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -504,6 +504,70 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 0.8194521358429047
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:50:51.583247+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3423,
+    "frames_flipped": 218,
+    "stretches": [
+     {
+      "t0": 35.48,
+      "t1": 38.85,
+      "dur_s": 3.37,
+      "marker_turn_deg": 174.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 121.5,
+      "err_swapped_deg": 25.7,
+      "calib_err_deg": 12.6,
+      "applied": true
+     },
+     {
+      "t0": 69.92,
+      "t1": 73.15,
+      "dur_s": 3.23,
+      "marker_turn_deg": 171.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 127.3,
+      "err_swapped_deg": 27.2,
+      "calib_err_deg": 12.6,
+      "applied": true
+     },
+     {
+      "t0": 117.65,
+      "t1": 119.17,
+      "dur_s": 1.52,
+      "marker_turn_deg": 114.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 128.0,
+      "err_swapped_deg": 38.7,
+      "calib_err_deg": 12.6,
+      "applied": true
+     },
+     {
+      "t0": 122.03,
+      "t1": 124.22,
+      "dur_s": 2.18,
+      "marker_turn_deg": 86.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 135.2,
+      "err_swapped_deg": 14.5,
+      "calib_err_deg": 12.6,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "status": "no IMU / GSI evidence"
+   }
+  },
+  "applied": 4
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM38/session_008",
   "family": "locomanipulation",

actions/locomanipulation/LM38/session_008/motions/markers.npz

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actions/locomanipulation/LM38/session_008/motions/smplx.npz

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actions/locomanipulation/LM38/session_009/meta.json

@@ -385,19 +385,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 111.98,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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-     0.01196,
-     0.39435
+     3.02706,
+     -0.2415,
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-    "wrist_bend_deg_median": 152.5,
-    "opposite_sign_bend_deg": 32.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 167.0,
+    "opposite_sign_bend_deg": 35.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.01,
     "hand_vs_marker_frame_deg": {
-     "before": 111.95,
+     "before": 179.04,
      "after": 3.01
     },
     "markers_on_wrist": [
@@ -405,15 +405,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -144.12,
+     "twist_moved_deg": 149.19,
      "wrist_twist_deg_after": {
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+      "median": 21.61,
       "iqr": [
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-       7.1
+       5.7,
+       33.9
       ]
      },
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+     "wrist_total_deg_median_after": 29.3,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -424,19 +424,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 135.77,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.31108
+     -0.0,
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+     0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 138.5,
-    "opposite_sign_bend_deg": 52.1,
+    "wrist_bend_deg_median": 32.2,
+    "opposite_sign_bend_deg": 166.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 5.17,
     "hand_vs_marker_frame_deg": {
-     "before": 135.81,
+     "before": 5.17,
      "after": 5.17
     },
     "markers_on_wrist": [
@@ -444,15 +444,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -135.28,
+     "twist_moved_deg": -1.15,
      "wrist_twist_deg_after": {
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+      "median": -0.0,
       "iqr": [
-       -14.0,
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+       -12.9,
+       19.0
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+     "wrist_total_deg_median_after": 32.5,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -461,7 +461,7 @@
     },
     "frames_used": 1500
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+   "generated_at_utc": "2026-10-28T06:25:46.343957+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM38/session_009/motions/smplx.npz

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