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actions/locomanipulation/LM06/session_005/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T15:37:02.920771+00:00",
+  "generated_at_utc": "2026-10-27T19:30:43.655177+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "male",
@@ -359,51 +359,51 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.05418127030134201,
-      -0.025822527706623077,
-      0.009422206319868565
+      0.05364016070961952,
+      -0.026886511594057083,
+      0.007270473521202803
      ],
      "LHandOut": [
-      0.060857370495796204,
-      0.01783056929707527,
-      -0.019941894337534904
+      0.06228581815958023,
+      0.0190133024007082,
+      -0.018507925793528557
      ]
     },
     "right": {
      "RHandIn": [
-      -0.04752066731452942,
-      -0.025115055963397026,
-      0.0013205601135268807
+      -0.04564228653907776,
+      -0.025890599936246872,
+      0.0001532750902697444
      ],
      "RHandOut": [
-      -0.04621916636824608,
-      0.019652115181088448,
-      0.019367564469575882
+      -0.04735098034143448,
+      0.020149610936641693,
+      0.014620047993957996
      ],
      "RWristOut": [
-      0.018204087391495705,
-      0.013162137009203434,
-      0.03498277813196182
+      0.018397919833660126,
+      0.020757155492901802,
+      0.025524839758872986
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.54,
-   "p95_frame": 9.99
+   "median_frame": 5.95,
+   "p95_frame": 8.16
   },
   "worst_markers": [
-   "LElbowIn 20mm",
-   "LForearm 16mm",
-   "LWristIn 14mm",
+   "LElbowIn 14mm",
    "LKneeIn 13mm",
-   "LWristOut 12mm"
+   "RKneeIn 12mm",
+   "LForearm 11mm",
+   "LKnee 8mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 10.2,
-    "p5": 3.3
+    "median": 9.1,
+    "p5": 4.7
    },
    "frames_checked": 621,
    "stature_mm": 1765.5
@@ -412,65 +412,65 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 14.83
+   "surface_rmse_mm_median": 13.95
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 118.46,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -2.06111,
-     -0.07312,
-     0.14621
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 170.4,
-    "opposite_sign_bend_deg": 33.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.51,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 33.7,
+    "opposite_sign_bend_deg": 170.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 4.84,
     "hand_vs_marker_frame_deg": {
-     "before": 118.03,
-     "after": 5.51
+     "before": 4.84,
+     "after": 4.84
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -108.77,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -64.77,
+      "median": 0.0,
       "iqr": [
-       -78.0,
-       -56.2
+       -9.8,
+       8.6
       ]
      },
-     "wrist_total_deg_median_after": 72.8,
+     "wrist_total_deg_median_after": 34.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1427
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 117.54,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.02813,
-     0.05569,
-     0.30303
+     -0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 76.5,
-    "opposite_sign_bend_deg": 112.6,
+    "wrist_bend_deg_median": 22.7,
+    "opposite_sign_bend_deg": 174.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.38,
+    "marker_frame_spread_deg": 3.44,
     "hand_vs_marker_frame_deg": {
-     "before": 117.87,
-     "after": 3.38
+     "before": 3.44,
+     "after": 3.44
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -478,15 +478,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -73.64,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
-       -4.9,
-       8.2
+       -4.5,
+       10.8
       ]
      },
-     "wrist_total_deg_median_after": 22.6,
+     "wrist_total_deg_median_after": 22.5,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn"
@@ -494,14 +494,111 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T15:37:09.042662+00:00",
+   "generated_at_utc": "2026-10-28T06:47:31.447572+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:51.431149+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3962,
+    "frames_flipped": 271,
+    "stretches": [
+     {
+      "t0": 3.98,
+      "t1": 9.5,
+      "dur_s": 5.52,
+      "marker_turn_deg": 54.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 139.9,
+      "err_swapped_deg": 11.2,
+      "calib_err_deg": 13.0,
+      "applied": true
+     },
+     {
+      "t0": 13.6,
+      "t1": 18.68,
+      "dur_s": 5.08,
+      "marker_turn_deg": 52.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 147.1,
+      "err_swapped_deg": 14.9,
+      "calib_err_deg": 13.0,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 4359,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 2
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM06/session_005",
   "family": "locomanipulation",
   "primitive": "LM06",
   "source_session": "20261023/LM06/20261023_060343_session76"
- }
+ },
+ "objects": [
+  {
+   "name": "HighRack",
+   "object_type": "HighRack",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "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": "mesh"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "OpenBox",
+   "object_type": "OpenBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM06/session_005/motions/markers.npz

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actions/locomanipulation/LM06/session_005/motions/object_markers.npz

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actions/locomanipulation/LM06/session_005/motions/objects.json

@@ -0,0 +1,187 @@
+{
+ "session": "20261023/LM06/20261023_060343_session76",
+ "generated_at_utc": "2026-10-28T11:04:53.219289+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": "HighRack",
+   "object_type": "HighRack",
+   "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
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+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 74.3,
+   "verified_pct": 74.29,
+   "moving_pct": 12.22,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.43
+   },
+   "valid_pct": 84.1,
+   "verified_pct": 84.08,
+   "moving_pct": 8.48,
+   "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": 0.41
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+   "source": "mocap",
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+   "calibration": {
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+   "source": "mocap",
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+   "calibration": {
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+  "notes": [],
+  "declared": [
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+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
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+   "OpenBox0"
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+    "needs_video_check": false
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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+    "object": "LittleBox",
+    "source": "mocap",
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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+    "source": "mocap",
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+    "object": "OpenBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM06/session_005/motions/objects.npz

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actions/locomanipulation/LM06/session_005/motions/smplx.npz

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