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actions/locomanipulation/LM06/session_004/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T15:36:50.781562+00:00",
+  "generated_at_utc": "2026-10-27T19:29:51.490230+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "male",
@@ -359,51 +359,56 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.05872189253568649,
-      -0.02506774663925171,
-      0.005031560081988573
+      0.06509154289960861,
+      -0.02797350473701954,
+      -0.002891732379794121
      ],
      "LHandOut": [
-      0.05629437044262886,
-      0.027589937672019005,
-      -0.0026770553085952997
+      0.06854916363954544,
+      0.02284807153046131,
+      0.009295003488659859
+     ],
+     "LWristOut": [
+      0.0032953957561403513,
+      0.029501313343644142,
+      0.03151169419288635
      ]
     },
     "right": {
      "RHandIn": [
-      -0.0500546470284462,
-      -0.026321887969970703,
-      0.0036143013276159763
+      -0.045755863189697266,
+      -0.030784983187913895,
+      0.005370276980102062
      ],
      "RHandOut": [
-      -0.047910064458847046,
-      0.020481165498495102,
-      0.015786338597536087
+      -0.04886048287153244,
+      0.016471749171614647,
+      0.015601592138409615
      ],
      "RWristOut": [
-      0.017569854855537415,
-      0.01635831780731678,
-      0.02814929187297821
+      0.016755767166614532,
+      0.02001328393816948,
+      0.027462724596261978
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.45,
-   "p95_frame": 9.04
+   "median_frame": 6.28,
+   "p95_frame": 9.18
   },
   "worst_markers": [
-   "LElbowIn 16mm",
-   "LForearm 14mm",
+   "LElbowIn 15mm",
    "LKneeIn 13mm",
+   "LForearm 13mm",
    "RKneeIn 12mm",
-   "LWristIn 12mm"
+   "RElbowIn 12mm"
   ],
   "valid_fraction": 0.9996,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 10.1,
-    "p5": 5.3
+    "median": 10.0,
+    "p5": 4.8
    },
    "frames_checked": 540,
    "stature_mm": 1765.5
@@ -412,65 +417,65 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 14.04
+   "surface_rmse_mm_median": 14.52
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 94.27,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     -1.60211,
-     -0.1231,
-     0.35414
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 92.9,
-    "opposite_sign_bend_deg": 106.9,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 9.47,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 39.5,
+    "opposite_sign_bend_deg": 165.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 6.05,
     "hand_vs_marker_frame_deg": {
-     "before": 95.39,
-     "after": 9.47
+     "before": 6.05,
+     "after": 6.05
     },
     "markers_on_wrist": [
+     "LWristOut",
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -86.61,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.16,
+      "median": -0.0,
       "iqr": [
-       -16.5,
-       13.9
+       -21.0,
+       18.1
       ]
      },
-     "wrist_total_deg_median_after": 42.5,
+     "wrist_total_deg_median_after": 43.8,
      "markers_on_forearm": [
       "LForearm",
-      "LWristIn",
-      "LWristOut"
+      "LWristIn"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1302
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 110.28,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.90677,
-     0.12433,
-     0.23046
+     -0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 85.6,
-    "opposite_sign_bend_deg": 101.8,
+    "wrist_bend_deg_median": 25.2,
+    "opposite_sign_bend_deg": 172.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 4.23,
+    "marker_frame_spread_deg": 4.02,
     "hand_vs_marker_frame_deg": {
-     "before": 110.78,
-     "after": 4.23
+     "before": 4.02,
+     "after": 4.02
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -478,15 +483,15 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -82.74,
+     "twist_moved_deg": -0.01,
      "wrist_twist_deg_after": {
-      "median": -0.02,
+      "median": -0.0,
       "iqr": [
-       -8.2,
-       12.3
+       -5.5,
+       12.4
       ]
      },
-     "wrist_total_deg_median_after": 23.7,
+     "wrist_total_deg_median_after": 24.3,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn"
@@ -494,14 +499,155 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T15:36:57.757841+00:00",
+   "generated_at_utc": "2026-10-28T06:47:30.934571+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:48:57.452235+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2837,
+    "frames_flipped": 678,
+    "stretches": [
+     {
+      "t0": 23.68,
+      "t1": 26.9,
+      "dur_s": 3.22,
+      "marker_turn_deg": 129.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 145.7,
+      "err_swapped_deg": 12.8,
+      "calib_err_deg": 14.9,
+      "applied": true
+     },
+     {
+      "t0": 31.72,
+      "t1": 34.35,
+      "dur_s": 2.63,
+      "marker_turn_deg": 59.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 123.8,
+      "err_swapped_deg": 7.3,
+      "calib_err_deg": 14.9,
+      "applied": true
+     },
+     {
+      "t0": 56.98,
+      "t1": 64.4,
+      "dur_s": 7.42,
+      "marker_turn_deg": 159.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 127.5,
+      "err_swapped_deg": 10.0,
+      "calib_err_deg": 14.9,
+      "applied": true
+     },
+     {
+      "t0": 94.08,
+      "t1": 98.3,
+      "dur_s": 4.22,
+      "marker_turn_deg": 160.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 142.0,
+      "err_swapped_deg": 12.7,
+      "calib_err_deg": 14.9,
+      "applied": true
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+     {
+      "t0": 102.45,
+      "t1": 110.45,
+      "dur_s": 8.0,
+      "marker_turn_deg": 67.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 155.9,
+      "err_swapped_deg": 10.2,
+      "calib_err_deg": 14.9,
+      "applied": true
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+     {
+      "t0": 123.15,
+      "t1": 126.48,
+      "dur_s": 3.33,
+      "marker_turn_deg": 176.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 163.1,
+      "err_swapped_deg": 10.0,
+      "calib_err_deg": 14.9,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3751,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 6
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM06/session_004",
   "family": "locomanipulation",
   "primitive": "LM06",
   "source_session": "20261023/LM06/20261023_060110_session75"
- }
+ },
+ "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_004/motions/markers.npz

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actions/locomanipulation/LM06/session_004/motions/object_markers.npz

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actions/locomanipulation/LM06/session_004/motions/objects.json

@@ -0,0 +1,187 @@
+{
+ "session": "20261023/LM06/20261023_060110_session75",
+ "generated_at_utc": "2026-10-28T11:06:00.216501+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",
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+   "calibration": null,
+   "valid_pct": 40.47,
+   "verified_pct": 40.45,
+   "moving_pct": 8.7,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.54
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+   "valid_pct": 92.06,
+   "verified_pct": 92.06,
+   "moving_pct": 14.59,
+   "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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+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+   "valid_pct": 81.75,
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+   "object_type": "LittleBox",
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+   "calibration": {
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+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "HighRack0",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
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+   "OpenBox0"
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+    "needs_video_check": false
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+    "source": "mocap",
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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "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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+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "OpenBox",
+    "object": "OpenBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM06/session_004/motions/objects.npz

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actions/locomanipulation/LM06/session_004/motions/smplx.npz

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