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actions/locomanipulation/LM58/session_010/meta.json

@@ -357,7 +357,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-23T03:52:05.503360+00:00",
+  "generated_at_utc": "2026-10-27T17:37:29.573703+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -372,51 +372,51 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06964202970266342,
-      0.01979033648967743,
-      0.0042038122192025185
+      0.07154515385627747,
+      0.018114665523171425,
+      -0.0004912434960715473
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      "LHandOut": [
-      0.06353350728750229,
-      0.007559469901025295,
-      -0.03250056505203247
+      0.062463823705911636,
+      0.005667845252901316,
+      -0.03684570640325546
      ]
     },
     "right": {
      "RHandIn": [
-      -0.051058534532785416,
-      0.0009221290820278227,
-      0.04243137687444687
+      -0.050369806587696075,
+      0.004407200962305069,
+      0.039905060082674026
      ],
      "RHandOut": [
-      -0.05913349241018295,
-      0.03616946563124657,
-      -0.003858691081404686
+      -0.0657830461859703,
+      0.025193355977535248,
+      -0.012754109688103199
      ],
      "RWristOut": [
-      0.006213041488081217,
-      0.029007278382778168,
-      0.003906434867531061
+      0.00022132242156658322,
+      0.027918461710214615,
+      -0.009335018694400787
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.42,
-   "p95_frame": 14.99
+   "median_frame": 6.25,
+   "p95_frame": 15.0
   },
   "worst_markers": [
    "LThigh 20mm",
    "LElbowIn 17mm",
    "STRN 16mm",
-   "CLAV 14mm",
-   "WaistLFront 13mm"
+   "CLAV 13mm",
+   "LKneeIn 13mm"
   ],
   "valid_fraction": 0.9998,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 4.0,
-    "p5": -2.1
+    "median": 4.2,
+    "p5": -1.9
    },
    "frames_checked": 540,
    "stature_mm": 1598.8
@@ -425,65 +425,65 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 11.98
+   "surface_rmse_mm_median": 11.9
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 168.0,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.85507,
-     -0.14226,
-     -0.65237
+     0.0,
+     -0.0,
+     0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 152.4,
-    "opposite_sign_bend_deg": 42.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.12,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 36.5,
+    "opposite_sign_bend_deg": 169.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 2.51,
     "hand_vs_marker_frame_deg": {
-     "before": 169.14,
-     "after": 3.12
+     "before": 2.51,
+     "after": 2.51
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 151.17,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 2.76,
+      "median": -0.0,
       "iqr": [
-       -3.4,
-       7.8
+       -6.1,
+       3.4
       ]
      },
-     "wrist_total_deg_median_after": 35.7,
+     "wrist_total_deg_median_after": 37.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1389
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 52.98,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.73734,
-     0.51772,
-     -0.20788
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 48.9,
-    "opposite_sign_bend_deg": 139.3,
+    "wrist_bend_deg_median": 24.6,
+    "opposite_sign_bend_deg": 175.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 1.93,
+    "marker_frame_spread_deg": 2.19,
     "hand_vs_marker_frame_deg": {
-     "before": 53.64,
-     "after": 1.93
+     "before": 2.19,
+     "after": 2.19
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -491,15 +491,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -45.49,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
-       -6.4,
-       4.0
+       -6.6,
+       4.3
       ]
      },
-     "wrist_total_deg_median_after": 23.3,
+     "wrist_total_deg_median_after": 21.9,
      "markers_on_forearm": [
       "RElbowIn",
       "RForearm",
@@ -508,14 +508,127 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T03:52:08.600417+00:00",
+   "generated_at_utc": "2026-10-28T06:41:11.227364+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:52:05.066602+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3358,
+    "frames_flipped": 126,
+    "stretches": [
+     {
+      "t0": 9.65,
+      "t1": 11.17,
+      "dur_s": 1.52,
+      "marker_turn_deg": 7.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 127.6,
+      "err_swapped_deg": 18.9,
+      "calib_err_deg": 10.8,
+      "applied": true
+     },
+     {
+      "t0": 11.28,
+      "t1": 12.27,
+      "dur_s": 0.98,
+      "marker_turn_deg": 69.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 130.8,
+      "err_swapped_deg": 11.3,
+      "calib_err_deg": 10.8,
+      "applied": true
+     },
+     {
+      "t0": 23.65,
+      "t1": 24.32,
+      "dur_s": 0.67,
+      "marker_turn_deg": 173.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 132.3,
+      "err_swapped_deg": 24.5,
+      "calib_err_deg": 10.8,
+      "applied": true
+     },
+     {
+      "t0": 26.5,
+      "t1": 28.78,
+      "dur_s": 2.28,
+      "marker_turn_deg": 141.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 140.4,
+      "err_swapped_deg": 9.2,
+      "calib_err_deg": 10.8,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3888,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 4
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM58/session_010",
   "family": "locomanipulation",
   "primitive": "LM58",
   "source_session": "20261017/LM58/20261017_074923_session97"
- }
+ },
+ "objects": [
+  {
+   "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": "rigid_body"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM58/session_010/motions/markers.npz

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actions/locomanipulation/LM58/session_010/motions/object_markers.npz

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actions/locomanipulation/LM58/session_010/motions/objects.json

@@ -0,0 +1,158 @@
+{
+ "session": "20261017/LM58/20261017_074923_session97",
+ "generated_at_utc": "2026-10-29T12:47:43.374774+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": [
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+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.85,
+   "verified_pct": 99.85,
+   "moving_pct": 13.32,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.79
+   },
+   "valid_pct": 95.17,
+   "verified_pct": 95.15,
+   "moving_pct": 8.15,
+   "vision_source": null
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+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.53
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+   "valid_pct": 95.33,
+   "verified_pct": 95.3,
+   "moving_pct": 6.48,
+   "vision_source": null
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+   "object_type": "Desk",
+   "source": "mocap",
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+   "valid_pct": 99.99,
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+ "absent": [
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+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "valid_s": 0.02
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+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
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+  "declared": [
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+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6"
+  ],
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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+    "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
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+   {
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+    "source": "mocap",
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+    "source": "mocap",
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+ },
+ "notes": []
+}

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