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actions/locomanipulation/LM38/session_021/meta.json

@@ -357,7 +357,7 @@
   "remaining_gyro_frame_deg": 1.0304692119870675
  },
  "smplx": {
-  "generated_at_utc": "2026-10-22T22:37:10.849747+00:00",
+  "generated_at_utc": "2026-10-27T16:34:08.828594+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -372,45 +372,45 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.06957549601793289,
-      0.020739929750561714,
-      0.023294074460864067
+      0.06428615748882294,
+      0.024775942787528038,
+      -0.009773536585271358
      ],
      "LHandOut": [
-      0.07127182185649872,
-      0.006944080349057913,
-      -0.009436349384486675
+      0.06993841379880905,
+      0.003669263795018196,
+      0.006299399305135012
      ]
     },
     "right": {
      "RHandIn": [
-      -0.045485932379961014,
-      -0.019467631354928017,
-      0.013775943778455257
+      -0.04479849711060524,
+      -0.01962760090827942,
+      0.012953520752489567
      ],
      "RHandOut": [
-      -0.04655482992529869,
-      0.01857949234545231,
-      0.006641812156885862
+      -0.04670664295554161,
+      0.018794409930706024,
+      0.008551828563213348
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 6.6,
-   "p95_frame": 10.42
+   "median_frame": 7.03,
+   "p95_frame": 10.58
   },
   "worst_markers": [
-   "LElbow 20mm",
-   "STRN 16mm",
-   "LForearm 13mm",
-   "RKneeIn 13mm",
-   "RThigh 11mm"
+   "STRN 17mm",
+   "LElbow 16mm",
+   "LHandIn 15mm",
+   "LForearm 14mm",
+   "LHandOut 13mm"
   ],
   "valid_fraction": 0.9995,
   "qc": {
    "lowest_vertex_mm": {
-    "median": 13.3,
+    "median": 13.5,
     "p5": 3.8
    },
    "frames_checked": 516,
@@ -420,41 +420,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 15.2
+   "surface_rmse_mm_median": 15.8
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 163.64,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.83523,
-     -0.11439,
-     -0.32501
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 129.1,
-    "opposite_sign_bend_deg": 68.0,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 17.13,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 51.7,
+    "opposite_sign_bend_deg": 151.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 38.32,
     "hand_vs_marker_frame_deg": {
-     "before": 166.09,
-     "after": 17.13
+     "before": 38.32,
+     "after": 38.32
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -124.08,
+     "twist_moved_deg": -1.24,
      "wrist_twist_deg_after": {
-      "median": -8.76,
+      "median": -0.01,
       "iqr": [
-       -24.0,
-       1.8
+       -23.9,
+       21.3
       ]
      },
-     "wrist_total_deg_median_after": 47.0,
+     "wrist_total_deg_median_after": 46.7,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -462,39 +462,39 @@
       "LWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1207
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 86.82,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.47097,
-     0.33829,
-     0.13305
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 80.5,
-    "opposite_sign_bend_deg": 106.9,
+    "wrist_bend_deg_median": 23.0,
+    "opposite_sign_bend_deg": 171.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 5.34,
+    "marker_frame_spread_deg": 5.35,
     "hand_vs_marker_frame_deg": {
-     "before": 87.38,
-     "after": 5.34
+     "before": 5.35,
+     "after": 5.35
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -78.37,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -7.3,
-       8.4
+       -7.4,
+       8.5
       ]
      },
-     "wrist_total_deg_median_after": 22.3,
+     "wrist_total_deg_median_after": 22.5,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
@@ -503,14 +503,146 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-22T22:37:13.853230+00:00",
+   "generated_at_utc": "2026-10-28T06:36:33.729966+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:51:21.577312+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 1890,
+    "frames_flipped": 937,
+    "stretches": [
+     {
+      "t0": 13.28,
+      "t1": 16.85,
+      "dur_s": 3.57,
+      "marker_turn_deg": 146.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 142.6,
+      "err_swapped_deg": 21.8,
+      "calib_err_deg": 14.6,
+      "applied": true
+     },
+     {
+      "t0": 19.65,
+      "t1": 23.05,
+      "dur_s": 3.4,
+      "marker_turn_deg": 71.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 124.0,
+      "err_swapped_deg": 26.2,
+      "calib_err_deg": 14.6,
+      "applied": true
+     },
+     {
+      "t0": 25.02,
+      "t1": 36.97,
+      "dur_s": 11.95,
+      "marker_turn_deg": 102.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 137.0,
+      "err_swapped_deg": 23.6,
+      "calib_err_deg": 14.6,
+      "applied": true
+     },
+     {
+      "t0": 38.75,
+      "t1": 40.48,
+      "dur_s": 1.73,
+      "marker_turn_deg": 131.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 144.2,
+      "err_swapped_deg": 17.8,
+      "calib_err_deg": 14.6,
+      "applied": true
+     },
+     {
+      "t0": 40.63,
+      "t1": 44.62,
+      "dur_s": 3.98,
+      "marker_turn_deg": 34.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 159.2,
+      "err_swapped_deg": 16.6,
+      "calib_err_deg": 14.6,
+      "applied": true
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+      "dur_s": 3.6,
+      "marker_turn_deg": 129.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 145.1,
+      "err_swapped_deg": 23.4,
+      "calib_err_deg": 14.6,
+      "applied": true
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+     {
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+      "t1": 56.57,
+      "dur_s": 6.65,
+      "marker_turn_deg": 52.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 155.6,
+      "err_swapped_deg": 17.0,
+      "calib_err_deg": 14.6,
+      "applied": true
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+     {
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+      "t1": 62.6,
+      "dur_s": 4.63,
+      "marker_turn_deg": 140.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 163.6,
+      "err_swapped_deg": 20.5,
+      "calib_err_deg": 14.6,
+      "applied": true
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+     {
+      "t0": 112.52,
+      "t1": 115.25,
+      "dur_s": 2.73,
+      "marker_turn_deg": 98.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 147.1,
+      "err_swapped_deg": 33.2,
+      "calib_err_deg": 14.6,
+      "applied": true
+     }
+    ]
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3481,
+    "frames_flipped": 0,
+    "stretches": []
+   }
+  },
+  "applied": 9
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM38/session_021",
   "family": "locomanipulation",
   "primitive": "LM38",
   "source_session": "20261013/LM38/20261013_043940_session73"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM38/session_021/motions/markers.npz

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actions/locomanipulation/LM38/session_021/motions/object_markers.npz

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actions/locomanipulation/LM38/session_021/motions/objects.json

@@ -0,0 +1,41 @@
+{
+ "session": "20261013/LM38/20261013_043940_session73",
+ "generated_at_utc": "2026-10-29T12:31:43.115290+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": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.79,
+   "verified_pct": 0.76,
+   "moving_pct": 0.76,
+   "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/LM38/session_021/motions/objects.npz

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actions/locomanipulation/LM38/session_021/motions/smplx.npz

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