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actions/locomanipulation/LM13/session_024/meta.json

@@ -357,7 +357,7 @@
   "remaining_gyro_frame_deg": 0.6442946051315506
  },
  "smplx": {
-  "generated_at_utc": "2026-10-22T22:18:13.484576+00:00",
+  "generated_at_utc": "2026-10-27T16:25:42.391707+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -372,50 +372,50 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06556921452283859,
-      -0.023545442149043083,
-      0.01416256744414568
+      0.06610117852687836,
+      -0.02402479201555252,
+      0.01340483408421278
      ],
      "LHandOut": [
-      0.05807572230696678,
-      0.010448231361806393,
-      0.0005297322059050202
+      0.058505840599536896,
+      0.010724661871790886,
+      0.001956988126039505
      ],
      "LWristOut": [
-      -0.006240995600819588,
-      0.01415970642119646,
-      -0.018835853785276413
+      -0.005802395287901163,
+      0.01551225408911705,
+      -0.01731840893626213
      ]
     },
     "right": {
      "RHandIn": [
-      -0.06222207471728325,
-      -0.022245259955525398,
-      0.00522103114053607
+      -0.06398937851190567,
+      -0.023156730458140373,
+      0.004852908663451672
      ],
      "RHandOut": [
-      -0.06509488075971603,
-      0.013058729469776154,
-      -0.007187236100435257
+      -0.06606340408325195,
+      0.01161026768386364,
+      -0.007910618558526039
      ],
      "RWristOut": [
-      0.012354284524917603,
-      0.030876128003001213,
-      -0.001920805312693119
+      0.011576680466532707,
+      0.028538750484585762,
+      -0.0021323782857507467
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 3.68,
-   "p95_frame": 6.53
+   "median_frame": 3.74,
+   "p95_frame": 6.79
   },
   "worst_markers": [
    "RKneeIn 13mm",
    "RThigh 8mm",
+   "RElbowIn 7mm",
    "WaistRBack 7mm",
-   "LKneeIn 7mm",
-   "LKnee 7mm"
+   "WaistRFront 7mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
@@ -430,26 +430,26 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 10.58
+   "surface_rmse_mm_median": 11.45
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 109.3,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.81869,
-     -0.39832,
-     0.41554
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 122.0,
-    "opposite_sign_bend_deg": 62.6,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 0.73,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 3.1,
+    "opposite_sign_bend_deg": 178.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 0.71,
     "hand_vs_marker_frame_deg": {
-     "before": 109.19,
-     "after": 0.73
+     "before": 0.71,
+     "after": 0.71
     },
     "markers_on_wrist": [
      "LWristOut",
@@ -457,15 +457,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -117.79,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
-       -1.4,
-       2.3
+       -1.2,
+       2.2
       ]
      },
-     "wrist_total_deg_median_after": 39.9,
+     "wrist_total_deg_median_after": 3.3,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -476,20 +476,20 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 78.72,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.3167,
-     0.31903,
-     0.22882
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 44.5,
-    "opposite_sign_bend_deg": 138.4,
+    "wrist_bend_deg_median": 7.1,
+    "opposite_sign_bend_deg": 178.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 1.08,
+    "marker_frame_spread_deg": 1.11,
     "hand_vs_marker_frame_deg": {
-     "before": 78.81,
-     "after": 1.08
+     "before": 1.11,
+     "after": 1.11
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -497,30 +497,74 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -44.06,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
-       -1.7,
-       1.2
+       -1.9,
+       1.4
       ]
      },
-     "wrist_total_deg_median_after": 6.2,
+     "wrist_total_deg_median_after": 7.2,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1464
    },
-   "generated_at_utc": "2026-10-22T22:18:16.642780+00:00",
+   "generated_at_utc": "2026-10-28T06:36:15.453460+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:51:08.730584+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3977,
+    "frames_flipped": 0,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3914,
+    "frames_flipped": 56,
+    "stretches": [
+     {
+      "t0": 30.98,
+      "t1": 32.85,
+      "dur_s": 1.87,
+      "marker_turn_deg": 146.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 171.6,
+      "err_swapped_deg": 4.2,
+      "calib_err_deg": 3.8,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 1
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM13/session_024",
   "family": "locomanipulation",
   "primitive": "LM13",
   "source_session": "20261013/LM13/20261013_010811_session8"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/locomanipulation/LM13/session_024/motions/markers.npz

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actions/locomanipulation/LM13/session_024/motions/object_markers.npz

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actions/locomanipulation/LM13/session_024/motions/objects.json

@@ -0,0 +1,44 @@
+{
+ "session": "20261013/LM13/20261013_010811_session8",
+ "generated_at_utc": "2026-10-28T09:26:52.056382+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": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox_1",
+    "rms_mm": 0.28
+   },
+   "valid_pct": 95.82,
+   "verified_pct": 95.82,
+   "moving_pct": 83.68,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "BigBox"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": [
+  "BigBox: mocap tracked, vision run not exported"
+ ]
+}

actions/locomanipulation/LM13/session_024/motions/objects.npz

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actions/locomanipulation/LM13/session_024/motions/smplx.npz

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