diff --git a/.gitattributes b/.gitattributes index 74c5172e1ceff8cb96101259c0536309f6b23030..ab4c3bc5fc23bcf457d2c11c16e406f03175adc7 100644 --- a/.gitattributes +++ b/.gitattributes @@ -41044,3 +41044,13 @@ actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_imu_left.db f actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text actions/static_manipulation/SM20/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text +actions/static_manipulation/SM21/session_007/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text diff --git a/actions/static_manipulation/SM21/session_005/meta.json b/actions/static_manipulation/SM21/session_005/meta.json index 68d6d9d0e653b511cf7bcb520c3328939f450ae2..f9d6ee9c7a7525be9b40e6553d92c6dafcb50b65 100644 --- a/actions/static_manipulation/SM21/session_005/meta.json +++ b/actions/static_manipulation/SM21/session_005/meta.json @@ -425,19 +425,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 166.99, + "Q_deg": 180.0, "Q_rotvec": [ - 2.75312, - -0.14208, - -0.946 + 2.98163, + -0.44128, + -0.88585 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 130.8, - "opposite_sign_bend_deg": 49.3, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 175.7, + "opposite_sign_bend_deg": 35.8, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.27, "hand_vs_marker_frame_deg": { - "before": 166.96, + "before": 179.82, "after": 0.27 }, "markers_on_wrist": [ @@ -445,15 +445,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 127.99, + "twist_moved_deg": -175.8, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ - -0.6, - 0.5 + -0.5, + 0.4 ] }, - "wrist_total_deg_median_after": 35.8, + "wrist_total_deg_median_after": 13.0, "markers_on_forearm": [ "LElbowIn", "LForearm", @@ -465,19 +465,19 @@ }, "right": { "status": "corrected", - "Q_deg": 108.32, + "Q_deg": 0.0, "Q_rotvec": [ - 1.87367, - 0.2316, - 0.09798 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 78.1, - "opposite_sign_bend_deg": 115.2, + "wrist_bend_deg_median": 25.4, + "opposite_sign_bend_deg": 168.3, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.76, "hand_vs_marker_frame_deg": { - "before": 108.23, + "before": 2.76, "after": 2.76 }, "markers_on_wrist": [ @@ -485,7 +485,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -76.05, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -502,7 +502,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-23T08:19:37.361661+00:00", + "generated_at_utc": "2026-10-28T06:44:27.894404+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -511,5 +511,13 @@ "family": "static_manipulation", "primitive": "SM21", "source_session": "20261020/SM21/20261020_120223_session80" - } + }, + "objects": [ + { + "name": "Table2", + "object_type": "Table", + "source": "mocap", + "pose_frame": "rigid_body" + } + ] } diff --git a/actions/static_manipulation/SM21/session_005/motions/object_markers.npz b/actions/static_manipulation/SM21/session_005/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..768d6a77c7a242702d97af55527e77b6b922a4da --- /dev/null +++ b/actions/static_manipulation/SM21/session_005/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ee07775bfc2585f081e66b28cb1cac5fa843d31ad211b590009a0553a656608 +size 550872 diff --git a/actions/static_manipulation/SM21/session_005/motions/objects.json b/actions/static_manipulation/SM21/session_005/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..0ebd2402d15ca5d9c305c35d37a5843f5c7d3f63 --- /dev/null +++ b/actions/static_manipulation/SM21/session_005/motions/objects.json @@ -0,0 +1,39 @@ +{ + "session": "20261020/SM21/20261020_120223_session80", + "generated_at_utc": "2026-10-29T13:02:13.966760+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": "Table2", + "object_type": "Table", + "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 + } + ], + "absent": [], + "object_list": { + "status": "corrected", + "notes": [], + "declared": [ + "Table2" + ], + "listed": [ + { + "name": "Table2", + "object": null, + "source": "mocap", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/static_manipulation/SM21/session_005/motions/objects.npz b/actions/static_manipulation/SM21/session_005/motions/objects.npz new file mode 100644 index 0000000000000000000000000000000000000000..9d55dcfa39a92759cf170bd05024b09be791fce8 --- /dev/null +++ b/actions/static_manipulation/SM21/session_005/motions/objects.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40b10862f3ca1ddb247f1291eeedc62cce5b896e84429e9472de331dfe29e474 +size 675101 diff --git a/actions/static_manipulation/SM21/session_005/motions/smplx.npz b/actions/static_manipulation/SM21/session_005/motions/smplx.npz index f9375b4dc44fd0890d9750b574fa9b6be89e8dea..003c400f4820f169084657be8afc23b662b0e365 100644 --- a/actions/static_manipulation/SM21/session_005/motions/smplx.npz +++ b/actions/static_manipulation/SM21/session_005/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5be9b8de0aa7cdab626631646196be1db57a5724b887db457b4097a9ff15358a -size 6524438 +oid sha256:22c8b3186884fae302fb5c911bc7c79fece88965b8c22a09f2acb5fc3c6385a5 +size 6530246 diff --git a/actions/static_manipulation/SM21/session_006/meta.json b/actions/static_manipulation/SM21/session_006/meta.json index de58cb343dbbc84c1657a12fa1d1cb19ed0a8b15..63e529838d6469759432a7737f98d2110db5a419 100644 --- a/actions/static_manipulation/SM21/session_006/meta.json +++ b/actions/static_manipulation/SM21/session_006/meta.json @@ -432,19 +432,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 52.66, + "Q_deg": 180.0, "Q_rotvec": [ - -0.55027, - -0.70301, - 0.21856 + 3.02575, + -0.26943, + -0.80116 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 69.6, - "opposite_sign_bend_deg": 134.2, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 173.0, + "opposite_sign_bend_deg": 45.7, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 0.3, "hand_vs_marker_frame_deg": { - "before": 52.54, + "before": 179.87, "after": 0.3 }, "markers_on_wrist": [ @@ -452,15 +452,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -53.96, + "twist_moved_deg": -172.84, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.01, "iqr": [ - -0.3, + -0.7, 0.1 ] }, - "wrist_total_deg_median_after": 45.7, + "wrist_total_deg_median_after": 23.4, "markers_on_forearm": [ "LForearm", "LWristIn", @@ -471,19 +471,19 @@ }, "right": { "status": "corrected", - "Q_deg": 21.87, + "Q_deg": 0.0, "Q_rotvec": [ - 0.12223, - -0.1102, - -0.34447 + -0.0, + -0.0, + 0.0 ], "in_out_sign": 1, "wrist_bend_deg_median": 17.5, - "opposite_sign_bend_deg": 177.5, + "opposite_sign_bend_deg": 176.0, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 3.75, "hand_vs_marker_frame_deg": { - "before": 22.42, + "before": 3.75, "after": 3.75 }, "markers_on_wrist": [ @@ -491,7 +491,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -3.15, + "twist_moved_deg": 0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -509,7 +509,7 @@ }, "frames_used": 980 }, - "generated_at_utc": "2026-10-26T13:45:34.672104+00:00", + "generated_at_utc": "2026-10-28T06:46:07.193767+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, @@ -518,5 +518,13 @@ "family": "static_manipulation", "primitive": "SM21", "source_session": "20261021/SM21/20261021_081649_session101" - } + }, + "objects": [ + { + "name": "Table", + "object_type": "Table", + "source": "mocap", + "pose_frame": "rigid_body" + } + ] } diff --git a/actions/static_manipulation/SM21/session_006/motions/object_markers.npz b/actions/static_manipulation/SM21/session_006/motions/object_markers.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e314859f43833bd124cf8667c65f9a82c11366a --- /dev/null +++ b/actions/static_manipulation/SM21/session_006/motions/object_markers.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4461df9edae0ca5241e4631bae8e014f36c904bf6ec76cfd2a4dc6e1a29fcb5c +size 328821 diff --git a/actions/static_manipulation/SM21/session_006/motions/objects.json b/actions/static_manipulation/SM21/session_006/motions/objects.json new file mode 100644 index 0000000000000000000000000000000000000000..1b71180ceb2ac3b6c0a180745d6a70adf2e60317 --- /dev/null +++ b/actions/static_manipulation/SM21/session_006/motions/objects.json @@ -0,0 +1,39 @@ +{ + "session": "20261021/SM21/20261021_081649_session101", + "generated_at_utc": "2026-10-29T13:11:20.568335+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": "Table", + "object_type": "Table", + "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 + } + ], + "absent": [], + "object_list": { + "status": "corrected", + "notes": [], + "declared": [ + "Table0" + ], + "listed": [ + { + "name": "Table", + "object": null, + "source": "mocap", + "needs_video_check": false + } + ] + }, + "notes": [] +} diff --git a/actions/static_manipulation/SM21/session_006/motions/objects.npz b/actions/static_manipulation/SM21/session_006/motions/objects.npz new file mode 100644 index 0000000000000000000000000000000000000000..600d940685bfcb14da32d87a4a65e00dcf5e140b --- /dev/null +++ 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0000000000000000000000000000000000000000..838102900a239e3130ff89557a3b75eeb25c6d99 --- /dev/null +++ b/actions/static_manipulation/SM21/session_007/cameras/poses.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d7a65e41501403f5ac9d422b38a47247860e8bc7e20831282d4e808973ccfbe +size 1323892 diff --git a/actions/static_manipulation/SM21/session_007/meta.json b/actions/static_manipulation/SM21/session_007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7582f388ca348d2b52267f1672e67453ea9febde --- /dev/null +++ b/actions/static_manipulation/SM21/session_007/meta.json @@ -0,0 +1,523 @@ +{ + "schema_version": 1, + "session": "EgoMotionActions/20261026/SM21/20261026_091727_session67", + "session_id": "20261026_091727_session67", + "primitive": "SM21", + "batch": "20261026", + "participant": "zhangxinxin", + "participant_source": "manifest", + "device_ids": { + "main": "c9205ac6e17d2d5c", + "left": "452031d7af00ef6f", + "right": 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a/actions/static_manipulation/SM22/session_001/meta.json b/actions/static_manipulation/SM22/session_001/meta.json index d77c23e9bc0611c93b68568418c766d297d35f25..7667317293c12be42e63e1d3b96b3dc34957d4e7 100644 --- a/actions/static_manipulation/SM22/session_001/meta.json +++ b/actions/static_manipulation/SM22/session_001/meta.json @@ -398,19 +398,19 @@ "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 14.18, + "Q_deg": 180.0, "Q_rotvec": [ - 0.06793, - 0.085, - 0.22232 + 3.02706, + -0.2415, + -0.80509 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 34.4, - "opposite_sign_bend_deg": 164.5, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", + "in_out_sign": 1, + "wrist_bend_deg_median": 173.0, + "opposite_sign_bend_deg": 24.6, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.49, "hand_vs_marker_frame_deg": { - "before": 15.6, + "before": 178.46, "after": 2.49 }, "markers_on_wrist": [ @@ -420,15 +420,15 @@ "LHandOut" ], "forearm_twist": { - "twist_moved_deg": 23.43, + "twist_moved_deg": 171.81, "wrist_twist_deg_after": { - "median": 0.0, + "median": 0.62, "iqr": [ - -4.8, + -2.6, 3.8 ] }, - "wrist_total_deg_median_after": 24.8, + "wrist_total_deg_median_after": 38.2, "markers_on_forearm": [ "LForearm" ] @@ -437,19 +437,19 @@ }, "right": { "status": "corrected", - "Q_deg": 37.28, + "Q_deg": 0.0, "Q_rotvec": [ - 0.61573, - 0.07784, - -0.19527 + 0.0, + 0.0, + 0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 23.6, - "opposite_sign_bend_deg": 171.1, + "wrist_bend_deg_median": 20.2, + "opposite_sign_bend_deg": 176.2, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", "marker_frame_spread_deg": 2.06, "hand_vs_marker_frame_deg": { - "before": 37.77, + "before": 2.06, "after": 2.06 }, "markers_on_wrist": [ @@ -457,7 +457,7 @@ "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -11.31, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { "median": -0.0, "iqr": [ @@ -474,7 +474,7 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-14T23:48:03.116757+00:00", + "generated_at_utc": "2026-10-28T06:16:20.961098+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, diff --git a/actions/static_manipulation/SM22/session_001/motions/smplx.npz b/actions/static_manipulation/SM22/session_001/motions/smplx.npz index f64bcbaeb742beea51f13de3654d7c23668bc0b0..bff4183cde09342bf0ee9e76a79022dd08847e4a 100644 --- a/actions/static_manipulation/SM22/session_001/motions/smplx.npz +++ b/actions/static_manipulation/SM22/session_001/motions/smplx.npz @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f5f1142d67dfbdb1d7411710bd87e4b85a6f91262f06af5ce1275e655a95df5a -size 6994324 +oid sha256:5833a1fc66fc10cd3525036f9d2f0c2d6cc08912386d1917520d687633732735 +size 7003358 diff --git a/actions/static_manipulation/SM22/session_002/meta.json b/actions/static_manipulation/SM22/session_002/meta.json index cc7b26582f75cb634631dbd3d560813aadc6816e..5b58af60f65d7442bb3ccf234752474de5a2e7dd 100644 --- a/actions/static_manipulation/SM22/session_002/meta.json +++ b/actions/static_manipulation/SM22/session_002/meta.json @@ -370,7 +370,7 @@ ] }, "smplx": { - "generated_at_utc": "2026-10-23T04:54:13.334064+00:00", + "generated_at_utc": "2026-10-27T17:57:35.043355+00:00", "generated_by": "scripts/fit_smplx_dataset.py", "file": "smplx.npz", "gender": "female", @@ -385,46 +385,46 @@ "hand_marker_offsets_m": { "left": { "LHandIn": [ - 0.06577584892511368, - 0.01673506759107113, - 0.017826620489358902 + 0.06343892961740494, + 0.013294268399477005, + 0.01475716382265091 ], "LHandOut": [ - 0.06384172290563583, - 0.0169493667781353, - -0.020761657506227493 + 0.055693190544843674, + 0.020500319078564644, + -0.02322029322385788 ] }, "right": { "RHandIn": [ - -0.04239610955119133, - 0.030598636716604233, - 0.01000529807060957 + -0.041276879608631134, + 0.028777286410331726, + 0.011464608833193779 ], "RHandOut": [ - -0.04452352598309517, - 0.006194275803864002, - -0.04340200871229172 + -0.04137700796127319, + 0.008034445345401764, + -0.043341148644685745 ] } } }, "marker_rmse_mm": { - "median_frame": 5.14, - "p95_frame": 7.81 + "median_frame": 4.25, + "p95_frame": 7.71 }, "worst_markers": [ - "LElbowIn 16mm", - "LForearm 15mm", - "LUArmHigh 9mm", - "LElbow 8mm", - "LWristIn 8mm" + "LElbowIn 13mm", + "LElbow 9mm", + "LWristIn 8mm", + "LUArmHigh 8mm", + "LWristOut 8mm" ], "valid_fraction": 0.9996, "qc": { "lowest_vertex_mm": { - "median": -1.0, - "p5": -19.4 + "median": -1.1, + "p5": -19.8 }, "frames_checked": 605, "stature_mm": 1598.8 @@ -433,80 +433,81 @@ "weight": 1.0, "marker_height_mm": 11.0, "markers_on_surface": 52, - "surface_rmse_mm_median": 11.62 + "surface_rmse_mm_median": 11.86 }, "shape_source": "participant median", "wrist_correction": { "left": { "status": "corrected", - "Q_deg": 176.34, + "Q_deg": 0.0, "Q_rotvec": [ - -3.03164, - 0.00437, - 0.53051 + 0.0, + -0.0, + 0.0 ], - "in_out_sign": -1, - "wrist_bend_deg_median": 100.1, - "opposite_sign_bend_deg": 104.2, - "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 4.97, + "in_out_sign": 1, + "wrist_bend_deg_median": 33.0, + "opposite_sign_bend_deg": 166.5, + "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", + "marker_frame_spread_deg": 4.09, "hand_vs_marker_frame_deg": { - "before": 175.37, - "after": 4.97 + "before": 4.09, + "after": 4.09 }, "markers_on_wrist": [ "LHandIn", "LHandOut" ], "forearm_twist": { - "twist_moved_deg": -90.95, + "twist_moved_deg": 0.06, "wrist_twist_deg_after": { - "median": -0.24, + "median": 0.0, "iqr": [ - -8.3, - 14.5 + -12.8, + 11.8 ] }, - "wrist_total_deg_median_after": 45.6, + "wrist_total_deg_median_after": 38.5, "markers_on_forearm": [ + "LElbow", "LForearm", "LWristIn", "LWristOut" ] }, - "frames_used": 1500 + "frames_used": 1262 }, "right": { "status": "corrected", - "Q_deg": 32.39, + "Q_deg": 0.0, "Q_rotvec": [ - -0.29991, - 0.23731, - -0.41642 + 0.0, + 0.0, + -0.0 ], "in_out_sign": 1, - "wrist_bend_deg_median": 29.7, - "opposite_sign_bend_deg": 168.0, + "wrist_bend_deg_median": 28.9, + "opposite_sign_bend_deg": 167.1, "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)", - "marker_frame_spread_deg": 4.11, + "marker_frame_spread_deg": 4.66, "hand_vs_marker_frame_deg": { - "before": 32.67, - "after": 4.11 + "before": 4.66, + "after": 4.66 }, "markers_on_wrist": [ "RHandIn", "RHandOut" ], "forearm_twist": { - "twist_moved_deg": -2.73, + "twist_moved_deg": -0.0, "wrist_twist_deg_after": { - "median": 0.0, + "median": -0.0, "iqr": [ - -13.7, - 7.0 + -13.3, + 7.2 ] }, - "wrist_total_deg_median_after": 29.7, + "wrist_total_deg_median_after": 29.9, "markers_on_forearm": [ "RElbowIn", "RForearm", @@ -516,14 +517,193 @@ }, "frames_used": 1500 }, - "generated_at_utc": "2026-10-23T04:54:16.747599+00:00", + "generated_at_utc": "2026-10-28T06:42:00.147465+00:00", "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged" } }, + "marker_relabel": { + "generated_at_utc": "2026-10-27T14:52:17.491041+00:00", + "generated_by": "scripts/relabel_marker_swaps.py", + "margin_s": 0.75, + "sides": { + "left": { + "evidence": [ + "imu" + ], + "frames_ok": 2957, + "frames_flipped": 1039, + "stretches": [ + { + "t0": 4.92, + "t1": 7.77, + "dur_s": 2.85, + "marker_turn_deg": 144.0, + "confirm": "imu", + "err_as_labelled_deg": 146.6, + "err_swapped_deg": 33.2, + "calib_err_deg": 16.7, + "applied": true + }, + { + "t0": 8.35, + "t1": 9.63, + "dur_s": 1.28, + "marker_turn_deg": 57.0, + "confirm": "imu", + "err_as_labelled_deg": 161.5, + "err_swapped_deg": 26.3, + "calib_err_deg": 16.7, + "applied": true + }, + { + "t0": 16.37, + "t1": 30.05, + "dur_s": 13.68, + 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