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actions/locomanipulation/LM36/session_004/meta.json

@@ -316,7 +316,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-15T01:05:46.753584+00:00",
+  "generated_at_utc": "2026-10-27T15:34:47.720609+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -331,46 +331,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.08506429940462112,
-      0.006551176309585571,
-      0.03105071745812893
+      0.08052615821361542,
+      0.007052362896502018,
+      0.03471430018544197
      ],
      "LHandOut": [
-      0.09177577495574951,
-      0.00695694237947464,
-      -0.01849406771361828
+      0.08922997862100601,
+      0.007672549225389957,
+      -0.014566563069820404
      ]
     },
     "right": {
      "RHandIn": [
-      -0.028879573568701744,
-      -0.036044903099536896,
-      0.027144376188516617
+      -0.028991106897592545,
+      -0.03624451532959938,
+      0.02646612375974655
      ],
      "RHandOut": [
-      -0.027302058413624763,
-      -0.03535475209355354,
-      -0.03172367066144943
+      -0.02816842310130596,
+      -0.03647720441222191,
+      -0.032392244786024094
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 5.34,
-   "p95_frame": 13.43
+   "median_frame": 5.32,
+   "p95_frame": 7.72
   },
   "worst_markers": [
-   "RKneeIn 20mm",
-   "LWristOut 14mm",
+   "RKneeIn 19mm",
    "LKneeIn 12mm",
-   "LWristIn 11mm",
-   "RWristOut 10mm"
+   "RWristOut 11mm",
+   "RThigh 10mm",
+   "WaistRFront 8mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -7.2,
-    "p5": -15.2
+    "median": -5.8,
+    "p5": -12.4
    },
    "frames_checked": 537,
    "stature_mm": 1631.4
@@ -379,80 +379,81 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.9
+   "surface_rmse_mm_median": 12.45
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 174.35,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -3.03304,
-     0.04245,
-     0.24204
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 165.2,
-    "opposite_sign_bend_deg": 22.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 2.26,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 19.8,
+    "opposite_sign_bend_deg": 177.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.9,
     "hand_vs_marker_frame_deg": {
-     "before": 174.94,
-     "after": 2.26
+     "before": 1.9,
+     "after": 1.9
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -164.67,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -1.3,
-       6.6
+       -1.4,
+       3.1
       ]
      },
-     "wrist_total_deg_median_after": 25.3,
+     "wrist_total_deg_median_after": 20.1,
      "markers_on_forearm": [
+      "LElbowIn",
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1464
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 28.19,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.29589,
-     0.39209
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 35.6,
-    "opposite_sign_bend_deg": 172.5,
+    "wrist_bend_deg_median": 34.9,
+    "opposite_sign_bend_deg": 172.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 6.17,
+    "marker_frame_spread_deg": 5.97,
     "hand_vs_marker_frame_deg": {
-     "before": 25.5,
-     "after": 6.17
+     "before": 5.97,
+     "after": 5.97
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 1.33,
+     "twist_moved_deg": 0.01,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -6.3,
-       8.9
+       -6.1,
+       8.0
       ]
      },
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+     "wrist_total_deg_median_after": 34.7,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -461,7 +462,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T01:05:49.786350+00:00",
+   "generated_at_utc": "2026-10-28T06:17:26.248661+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -505,6 +506,37 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.373457545324978
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:50:34.175573+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3716,
+    "frames_flipped": 146,
+    "stretches": [
+     {
+      "t0": 20.92,
+      "t1": 25.57,
+      "dur_s": 4.65,
+      "marker_turn_deg": 173.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 139.8,
+      "err_swapped_deg": 5.6,
+      "calib_err_deg": 5.7,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "status": "no IMU / GSI evidence"
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM36/session_004",
   "family": "locomanipulation",

actions/locomanipulation/LM36/session_004/motions/markers.npz

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actions/locomanipulation/LM36/session_004/motions/smplx.npz

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actions/locomanipulation/LM36/session_005/meta.json

@@ -397,19 +397,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 137.98,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.05662,
-     -0.78559,
-     0.9761
+     -2.98794,
+     0.42773,
+     0.87113
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 132.0,
-    "opposite_sign_bend_deg": 74.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 167.3,
+    "opposite_sign_bend_deg": 48.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.34,
     "hand_vs_marker_frame_deg": {
-     "before": 137.63,
+     "before": 179.01,
      "after": 1.34
     },
     "markers_on_wrist": [
@@ -418,15 +418,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -127.12,
+     "twist_moved_deg": -166.6,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.06,
       "iqr": [
-       -1.7,
-       1.1
+       -1.8,
+       0.9
       ]
      },
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+     "wrist_total_deg_median_after": 36.8,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -437,19 +437,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 111.85,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.42849,
-     0.14901
+     -0.0,
+     0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 110.3,
-    "opposite_sign_bend_deg": 83.8,
+    "wrist_bend_deg_median": 28.6,
+    "opposite_sign_bend_deg": 173.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.1,
     "hand_vs_marker_frame_deg": {
-     "before": 111.76,
+     "before": 1.1,
      "after": 1.1
     },
     "markers_on_wrist": [
@@ -458,7 +458,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -107.64,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -474,7 +474,7 @@
     },
     "frames_used": 1500
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-   "generated_at_utc": "2026-10-15T07:10:11.322087+00:00",
+   "generated_at_utc": "2026-10-28T06:22:39.650992+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM36/session_005/motions/smplx.npz

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