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actions/locomanipulation/LM07/session_003/meta.json

@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T15:36:51.114373+00:00",
+  "generated_at_utc": "2026-10-27T19:30:45.120306+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "male",
@@ -371,51 +371,56 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06014760956168175,
-      -0.026657581329345703,
-      0.011058480478823185
+      0.05475045368075371,
+      0.011622619815170765,
+      0.03612259402871132
      ],
      "LHandOut": [
-      0.0569949708878994,
-      0.01855875551700592,
-      -0.01714399829506874
+      0.052246611565351486,
+      0.03454463183879852,
+      -0.011593123897910118
+     ],
+     "LWristOut": [
+      -0.015469741076231003,
+      0.028958361595869064,
+      -0.020281286910176277
      ]
     },
     "right": {
      "RHandIn": [
-      -0.04995808005332947,
-      -0.025774860754609108,
-      0.00756438821554184
+      -0.05055811628699303,
+      -0.026479661464691162,
+      0.006541769485920668
      ],
      "RHandOut": [
-      -0.05180026590824127,
-      0.022356798872351646,
-      0.01203874684870243
+      -0.0520235076546669,
+      0.021421100944280624,
+      0.013173401355743408
      ],
      "RWristOut": [
-      0.01451505534350872,
-      0.026837285608053207,
-      0.018754079937934875
+      0.01443678792566061,
+      0.02518964745104313,
+      0.019085315987467766
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.21,
-   "p95_frame": 8.46
+   "median_frame": 5.96,
+   "p95_frame": 8.83
   },
   "worst_markers": [
-   "LElbowIn 20mm",
+   "LElbowIn 18mm",
    "LKneeIn 14mm",
-   "LForearm 12mm",
    "RKneeIn 12mm",
-   "LElbow 11mm"
+   "LForearm 10mm",
+   "LWristIn 9mm"
   ],
   "valid_fraction": 0.9998,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 10.5,
-    "p5": 3.4
+    "median": 10.3,
+    "p5": 3.6
    },
    "frames_checked": 540,
    "stature_mm": 1765.5
@@ -424,65 +429,65 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 15.04
+   "surface_rmse_mm_median": 15.16
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 116.82,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.98609,
-     0.06834,
-     0.45603
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 160.0,
-    "opposite_sign_bend_deg": 42.6,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 7.24,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 35.7,
+    "opposite_sign_bend_deg": 167.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 5.65,
     "hand_vs_marker_frame_deg": {
-     "before": 116.97,
-     "after": 7.24
+     "before": 5.65,
+     "after": 5.65
     },
     "markers_on_wrist": [
+     "LWristOut",
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -156.97,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.29,
+      "median": 0.0,
       "iqr": [
-       -9.2,
-       9.6
+       -12.0,
+       15.3
       ]
      },
-     "wrist_total_deg_median_after": 38.6,
+     "wrist_total_deg_median_after": 36.5,
      "markers_on_forearm": [
       "LForearm",
-      "LWristIn",
-      "LWristOut"
+      "LWristIn"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1355
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 101.48,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.73468,
-     0.29209,
-     0.2071
+     0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 100.9,
-    "opposite_sign_bend_deg": 90.7,
+    "wrist_bend_deg_median": 24.6,
+    "opposite_sign_bend_deg": 170.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.87,
+    "marker_frame_spread_deg": 3.41,
     "hand_vs_marker_frame_deg": {
-     "before": 101.76,
-     "after": 3.87
+     "before": 3.41,
+     "after": 3.41
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -490,15 +495,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -100.26,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -7.4,
-       11.8
+       -6.7,
+       11.0
       ]
      },
-     "wrist_total_deg_median_after": 26.0,
+     "wrist_total_deg_median_after": 24.3,
      "markers_on_forearm": [
       "RElbowIn",
       "RForearm",
@@ -507,14 +512,133 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T15:36:59.877834+00:00",
+   "generated_at_utc": "2026-10-28T06:47:32.608973+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:16.719589+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3195,
+    "frames_flipped": 345,
+    "stretches": [
+     {
+      "t0": 59.9,
+      "t1": 63.87,
+      "dur_s": 3.97,
+      "marker_turn_deg": 146.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 118.3,
+      "err_swapped_deg": 5.2,
+      "calib_err_deg": 12.0,
+      "applied": true
+     },
+     {
+      "t0": 70.37,
+      "t1": 72.42,
+      "dur_s": 2.05,
+      "marker_turn_deg": 27.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 128.2,
+      "err_swapped_deg": 15.5,
+      "calib_err_deg": 12.0,
+      "applied": true
+     },
+     {
+      "t0": 105.18,
+      "t1": 114.15,
+      "dur_s": 8.97,
+      "marker_turn_deg": 77.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 130.8,
+      "err_swapped_deg": 9.5,
+      "calib_err_deg": 12.0,
+      "applied": true
+     },
+     {
+      "t0": 118.35,
+      "t1": 120.37,
+      "dur_s": 2.02,
+      "marker_turn_deg": 89.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 161.4,
+      "err_swapped_deg": 11.4,
+      "calib_err_deg": 12.0,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3790,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 4
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM07/session_003",
   "family": "locomanipulation",
   "primitive": "LM07",
   "source_session": "20261023/LM07/20261023_061404_session80"
- }
+ },
+ "objects": [
+  {
+   "name": "HighRack",
+   "object_type": "HighRack",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "OpenBox",
+   "object_type": "OpenBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM07/session_003/motions/markers.npz

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+size 9259026

actions/locomanipulation/LM07/session_003/motions/object_markers.npz

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actions/locomanipulation/LM07/session_003/motions/objects.json

@@ -0,0 +1,187 @@
+{
+ "session": "20261023/LM07/20261023_061404_session80",
+ "generated_at_utc": "2026-10-28T11:05:09.908054+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": "HighRack",
+   "object_type": "HighRack",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 65.04,
+   "verified_pct": 65.03,
+   "moving_pct": 11.64,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.68
+   },
+   "valid_pct": 53.64,
+   "verified_pct": 53.63,
+   "moving_pct": 11.75,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.42
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+   "valid_pct": 99.84,
+   "verified_pct": 99.84,
+   "moving_pct": 13.14,
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.55
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+   "valid_pct": 57.13,
+   "verified_pct": 57.11,
+   "moving_pct": 8.55,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 0.38
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+   "valid_pct": 98.06,
+   "verified_pct": 98.05,
+   "moving_pct": 7.29,
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+  {
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 1.23
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+  {
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+   "object_type": "OpenBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "valid_pct": 99.99,
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+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "HighRack0",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "OpenBox0"
+  ],
+  "listed": [
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+    "name": "HighRack",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "OpenBox",
+    "object": "OpenBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM07/session_003/motions/objects.npz

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