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actions/locomanipulation/LM35/session_004/meta.json

@@ -317,7 +317,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-15T01:02:33.330469+00:00",
+  "generated_at_utc": "2026-10-27T15:33:40.593028+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -332,51 +332,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.07344705611467361,
-      0.022427085787057877,
-      0.017091432586312294
+      0.08711935579776764,
+      0.024380460381507874,
+      0.006539135705679655
      ],
      "LHandOut": [
-      0.08960701525211334,
-      0.004173735156655312,
-      -0.02625131979584694
-     ],
-     "LWristOut": [
-      0.020732266828417778,
-      -0.022732531651854515,
-      -0.044650401920080185
+      0.08734254539012909,
+      -0.009116862900555134,
+      -0.030803704634308815
      ]
     },
     "right": {
      "RHandIn": [
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-      0.012518834322690964,
-      0.009546796791255474
+      -0.04810582473874092,
+      0.01704046130180359,
+      0.0026206064503639936
      ],
      "RHandOut": [
-      -0.03236786276102066,
-      -0.012417846359312534,
-      -0.03620123118162155
+      -0.029056323692202568,
+      -0.013681306503713131,
+      -0.03714067116379738
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 7.52,
-   "p95_frame": 31.93
+   "median_frame": 6.67,
+   "p95_frame": 28.57
   },
   "worst_markers": [
-   "LElbow 38mm",
-   "LElbowIn 36mm",
-   "LUArmHigh 34mm",
-   "LForearm 18mm",
-   "C7 16mm"
+   "LUArmHigh 33mm",
+   "LElbowIn 32mm",
+   "LElbow 21mm",
+   "C7 18mm",
+   "LShoulderBack 18mm"
   ],
   "valid_fraction": 0.9945,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -6.0,
-    "p5": -15.3
+    "median": -2.9,
+    "p5": -13.2
    },
    "frames_checked": 554,
    "stature_mm": 1631.4
@@ -385,80 +380,82 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.21
+   "surface_rmse_mm_median": 13.66
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 158.35,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.74571,
-     0.31341,
-     -0.03497
+     -0.0,
+     0.0,
+     -0.0
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 153.1,
-    "opposite_sign_bend_deg": 36.5,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.85,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 29.7,
+    "opposite_sign_bend_deg": 165.9,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.89,
     "hand_vs_marker_frame_deg": {
-     "before": 156.18,
-     "after": 5.85
+     "before": 3.89,
+     "after": 3.89
     },
     "markers_on_wrist": [
-     "LWristOut",
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 151.78,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 4.86,
+      "median": 0.0,
       "iqr": [
-       -3.9,
-       20.8
+       -18.5,
+       17.0
       ]
      },
-     "wrist_total_deg_median_after": 32.0,
+     "wrist_total_deg_median_after": 28.3,
      "markers_on_forearm": [
+      "LElbow",
+      "LElbowIn",
       "LForearm",
-      "LWristIn"
+      "LWristIn",
+      "LWristOut"
      ]
     },
-    "frames_used": 1499
+    "frames_used": 1439
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 23.25,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.01163,
-     -0.13502
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 63.8,
-    "opposite_sign_bend_deg": 121.4,
+    "wrist_bend_deg_median": 26.0,
+    "opposite_sign_bend_deg": 173.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 12.36,
+    "marker_frame_spread_deg": 11.8,
     "hand_vs_marker_frame_deg": {
-     "before": 26.67,
-     "after": 12.36
+     "before": 11.8,
+     "after": 11.8
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 57.95,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -8.8,
-       3.9
+       -8.1,
+       4.4
       ]
      },
-     "wrist_total_deg_median_after": 23.9,
+     "wrist_total_deg_median_after": 24.7,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -467,7 +464,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-15T01:02:36.264645+00:00",
+   "generated_at_utc": "2026-10-28T06:17:20.131302+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -511,6 +508,48 @@
   "generated_by": "scripts/correct_processed_rig.py",
   "remaining_gyro_frame_deg": 1.070292324157336
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:50:34.186468+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3318,
+    "frames_flipped": 378,
+    "stretches": [
+     {
+      "t0": 0.52,
+      "t1": 8.02,
+      "dur_s": 7.5,
+      "marker_turn_deg": 165.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 155.3,
+      "err_swapped_deg": 32.9,
+      "calib_err_deg": 12.6,
+      "applied": true
+     },
+     {
+      "t0": 61.53,
+      "t1": 67.17,
+      "dur_s": 5.63,
+      "marker_turn_deg": 102.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 153.4,
+      "err_swapped_deg": 9.8,
+      "calib_err_deg": 12.6,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "status": "no IMU / GSI evidence"
+   }
+  },
+  "applied": 2
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM35/session_004",
   "family": "locomanipulation",

actions/locomanipulation/LM35/session_004/motions/markers.npz

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actions/locomanipulation/LM35/session_004/motions/smplx.npz

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actions/locomanipulation/LM35/session_005/meta.json

@@ -386,19 +386,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 168.29,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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-     -0.07458,
-     -0.33866
+     2.98498,
+     -0.43373,
+     -0.87829
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 132.9,
-    "opposite_sign_bend_deg": 54.6,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 171.1,
+    "opposite_sign_bend_deg": 23.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.56,
     "hand_vs_marker_frame_deg": {
-     "before": 167.66,
+     "before": 178.64,
      "after": 2.56
     },
     "markers_on_wrist": [
@@ -406,15 +406,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 132.23,
+     "twist_moved_deg": -163.18,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -13.54,
       "iqr": [
-       -6.9,
-       8.4
+       -19.8,
+       -6.0
       ]
      },
-     "wrist_total_deg_median_after": 23.3,
+     "wrist_total_deg_median_after": 30.9,
      "markers_on_forearm": [
       "LElbow",
       "LElbowIn",
@@ -427,19 +427,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 17.98,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.05111,
-     -0.29521
+     -0.0,
+     -0.0,
+     0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 43.4,
-    "opposite_sign_bend_deg": 139.4,
+    "wrist_bend_deg_median": 12.7,
+    "opposite_sign_bend_deg": 176.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.56,
     "hand_vs_marker_frame_deg": {
-     "before": 18.64,
+     "before": 3.56,
      "after": 3.56
     },
     "markers_on_wrist": [
@@ -447,7 +447,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 40.72,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -464,7 +464,7 @@
     },
     "frames_used": 1500
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-   "generated_at_utc": "2026-10-15T01:03:15.464838+00:00",
+   "generated_at_utc": "2026-10-28T06:17:20.142910+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM35/session_005/motions/smplx.npz

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