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actions/locomanipulation/LM39/session_034/meta.json

@@ -363,7 +363,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T12:43:29.423252+00:00",
+  "generated_at_utc": "2026-10-27T18:29:05.347396+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -378,46 +378,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06233234703540802,
-      -0.03185271844267845,
-      0.01462138257920742
+      0.05633149668574333,
+      -0.03166675940155983,
+      0.022288896143436432
      ],
      "LHandOut": [
-      0.06397620588541031,
-      0.030576251447200775,
-      0.0018035774119198322
+      0.06346463412046432,
+      0.02836061827838421,
+      0.0007400867179967463
      ]
     },
     "right": {
      "RHandIn": [
-      -0.026259317994117737,
-      -0.00191376858856529,
-      0.044907283037900925
+      -0.026277009397745132,
+      0.0032941794488579035,
+      0.04462330415844917
      ],
      "RHandOut": [
-      -0.01338378619402647,
-      0.04570297524333,
-      0.032265592366456985
+      -0.02858254685997963,
+      0.04532042145729065,
+      0.016211504116654396
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 4.42,
-   "p95_frame": 7.31
+   "median_frame": 4.33,
+   "p95_frame": 6.25
   },
   "worst_markers": [
-   "LElbowIn 13mm",
-   "RKneeIn 11mm",
-   "LShin 8mm",
-   "RElbowIn 7mm",
-   "LKneeIn 7mm"
+   "LElbowIn 12mm",
+   "RKneeIn 10mm",
+   "LShin 9mm",
+   "LKneeIn 7mm",
+   "RElbowIn 7mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 5.5,
-    "p5": -7.6
+    "median": 5.8,
+    "p5": -5.8
    },
    "frames_checked": 525,
    "stature_mm": 1582.0
@@ -426,80 +426,81 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.02
+   "surface_rmse_mm_median": 14.2
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 96.02,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.61301,
-     0.0928,
-     0.44539
+     0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 116.6,
-    "opposite_sign_bend_deg": 81.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 4.54,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 35.3,
+    "opposite_sign_bend_deg": 170.5,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.82,
     "hand_vs_marker_frame_deg": {
-     "before": 95.56,
-     "after": 4.54
+     "before": 4.82,
+     "after": 4.82
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -113.97,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.03,
+      "median": 0.0,
       "iqr": [
-       -9.9,
-       5.2
+       -19.3,
+       10.2
       ]
      },
-     "wrist_total_deg_median_after": 31.9,
+     "wrist_total_deg_median_after": 33.4,
      "markers_on_forearm": [
+      "LElbow",
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1323
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 95.75,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.51298,
-     0.44541,
-     -0.5524
+     -0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 99.9,
-    "opposite_sign_bend_deg": 103.8,
+    "wrist_bend_deg_median": 41.5,
+    "opposite_sign_bend_deg": 168.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 4.35,
+    "marker_frame_spread_deg": 4.42,
     "hand_vs_marker_frame_deg": {
-     "before": 96.58,
-     "after": 4.35
+     "before": 4.42,
+     "after": 4.42
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -91.6,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
-       -14.7,
+       -14.4,
        7.2
       ]
      },
-     "wrist_total_deg_median_after": 44.5,
+     "wrist_total_deg_median_after": 41.4,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -508,14 +509,102 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T12:43:32.841718+00:00",
+   "generated_at_utc": "2026-10-28T06:45:21.421735+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:26.447487+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3619,
+    "frames_flipped": 278,
+    "stretches": [
+     {
+      "t0": 39.12,
+      "t1": 42.82,
+      "dur_s": 3.7,
+      "marker_turn_deg": 175.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 163.3,
+      "err_swapped_deg": 16.2,
+      "calib_err_deg": 12.0,
+      "applied": true
+     },
+     {
+      "t0": 76.22,
+      "t1": 77.82,
+      "dur_s": 1.6,
+      "marker_turn_deg": 99.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 157.4,
+      "err_swapped_deg": 20.2,
+      "calib_err_deg": 12.0,
+      "applied": true
+     },
+     {
+      "t0": 81.18,
+      "t1": 82.72,
+      "dur_s": 1.53,
+      "marker_turn_deg": 39.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 144.2,
+      "err_swapped_deg": 27.1,
+      "calib_err_deg": 12.0,
+      "applied": true
+     },
+     {
+      "t0": 91.02,
+      "t1": 92.78,
+      "dur_s": 1.77,
+      "marker_turn_deg": 107.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 157.9,
+      "err_swapped_deg": 23.5,
+      "calib_err_deg": 12.0,
+      "applied": true
+     },
+     {
+      "t0": 98.15,
+      "t1": 99.35,
+      "dur_s": 1.2,
+      "marker_turn_deg": 123.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 159.0,
+      "err_swapped_deg": 21.6,
+      "calib_err_deg": 12.0,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3895,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 5
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM39/session_034",
   "family": "locomanipulation",
   "primitive": "LM39",
   "source_session": "20261021/LM39/20261021_012948_session14"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/locomanipulation/LM39/session_034/motions/markers.npz

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actions/locomanipulation/LM39/session_034/motions/object_markers.npz

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actions/locomanipulation/LM39/session_034/motions/objects.json

@@ -0,0 +1,42 @@
+{
+ "session": "20261021/LM39/20261021_012948_session14",
+ "generated_at_utc": "2026-10-29T13:06:09.577625+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": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox5",
+    "rms_mm": 0.31
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 75.2,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "LittleBox5"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM39/session_034/motions/objects.npz

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actions/locomanipulation/LM39/session_034/motions/smplx.npz

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