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actions/locomanipulation/LM10/session_019/meta.json

@@ -344,7 +344,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T15:42:29.298114+00:00",
+  "generated_at_utc": "2026-10-27T19:38:53.974016+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -359,46 +359,46 @@
    "hand_marker_offsets_m": {
     "left": {
      "LHandIn": [
-      0.05213625729084015,
-      0.01284822542220354,
-      0.027893155813217163
+      0.05306939780712128,
+      0.010690927505493164,
+      0.028718162328004837
      ],
      "LHandOut": [
-      0.05178132280707359,
-      0.004495745524764061,
-      -0.0422714427113533
+      0.05416005477309227,
+      0.006315988954156637,
+      -0.041783079504966736
      ]
     },
     "right": {
      "RHandIn": [
-      -0.07108313590288162,
-      -0.032807592302560806,
-      -0.02553294599056244
+      -0.0705983117222786,
+      0.006274383049458265,
+      -0.04191036894917488
      ],
      "RHandOut": [
-      -0.0829119086265564,
-      0.014960624277591705,
-      0.007205791771411896
+      -0.08457498252391815,
+      0.008262024261057377,
+      0.015417831018567085
      ]
     }
    }
   },
   "marker_rmse_mm": {
-   "median_frame": 7.69,
-   "p95_frame": 11.89
+   "median_frame": 7.37,
+   "p95_frame": 11.96
   },
   "worst_markers": [
-   "LElbowIn 19mm",
-   "RWristOut 19mm",
    "LAnkleOut 18mm",
+   "LElbowIn 18mm",
+   "RWristOut 16mm",
    "RKneeIn 14mm",
-   "RWristIn 11mm"
+   "LHeel 11mm"
   ],
   "valid_fraction": 0.9997,
   "qc": {
    "lowest_vertex_mm": {
-    "median": -14.8,
-    "p5": -22.8
+    "median": -14.2,
+    "p5": -21.7
    },
    "frames_checked": 528,
    "stature_mm": 1631.4
@@ -407,41 +407,41 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 11.79
+   "surface_rmse_mm_median": 12.0
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 179.6,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     3.09073,
-     -0.28037,
-     -0.44081
+     -0.0,
+     0.0,
+     -0.0
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 165.2,
-    "opposite_sign_bend_deg": 24.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 3.57,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 14.2,
+    "opposite_sign_bend_deg": 171.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.8,
     "hand_vs_marker_frame_deg": {
-     "before": 178.97,
-     "after": 3.57
+     "before": 3.8,
+     "after": 3.8
     },
     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -159.53,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -4.01,
+      "median": -0.0,
       "iqr": [
-       -12.3,
-       6.9
+       -6.9,
+       10.8
       ]
      },
-     "wrist_total_deg_median_after": 38.8,
+     "wrist_total_deg_median_after": 14.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -452,51 +452,164 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 130.43,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.18487,
-     0.29192,
-     0.56853
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 156.7,
-    "opposite_sign_bend_deg": 38.3,
+    "wrist_bend_deg_median": 42.7,
+    "opposite_sign_bend_deg": 166.1,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 7.22,
+    "marker_frame_spread_deg": 5.61,
     "hand_vs_marker_frame_deg": {
-     "before": 130.43,
-     "after": 7.22
+     "before": 5.61,
+     "after": 5.61
     },
     "markers_on_wrist": [
      "RHandIn",
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -141.37,
+     "twist_moved_deg": 15.68,
      "wrist_twist_deg_after": {
-      "median": -37.42,
+      "median": 0.01,
       "iqr": [
-       -72.8,
-       -20.5
+       -7.5,
+       43.1
       ]
      },
-     "wrist_total_deg_median_after": 41.3,
+     "wrist_total_deg_median_after": 42.3,
      "markers_on_forearm": [
       "RForearm",
       "RWristIn",
       "RWristOut"
      ]
     },
-    "frames_used": 1500
+    "frames_used": 1356
    },
-   "generated_at_utc": "2026-10-26T15:42:35.379677+00:00",
+   "generated_at_utc": "2026-10-28T06:47:38.356074+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
+ "marker_relabel": {
+  "generated_at_utc": "2026-10-27T14:49:03.873398+00:00",
+  "generated_by": "scripts/relabel_marker_swaps.py",
+  "margin_s": 0.75,
+  "sides": {
+   "left": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 3714,
+    "frames_flipped": 0,
+    "stretches": []
+   },
+   "right": {
+    "evidence": [
+     "imu"
+    ],
+    "frames_ok": 2767,
+    "frames_flipped": 457,
+    "stretches": [
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+      "t0": 13.18,
+      "t1": 22.5,
+      "dur_s": 9.32,
+      "marker_turn_deg": 63.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 118.6,
+      "err_swapped_deg": 5.4,
+      "calib_err_deg": 11.0,
+      "applied": true
+     },
+     {
+      "t0": 26.22,
+      "t1": 30.75,
+      "dur_s": 4.53,
+      "marker_turn_deg": 57.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 128.6,
+      "err_swapped_deg": 8.9,
+      "calib_err_deg": 11.0,
+      "applied": true
+     },
+     {
+      "t0": 37.57,
+      "t1": 43.35,
+      "dur_s": 5.78,
+      "marker_turn_deg": 70.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 137.1,
+      "err_swapped_deg": 9.1,
+      "calib_err_deg": 11.0,
+      "applied": true
+     },
+     {
+      "t0": 52.5,
+      "t1": 57.15,
+      "dur_s": 4.65,
+      "marker_turn_deg": 89.0,
+      "confirm": "imu",
+      "err_as_labelled_deg": 107.2,
+      "err_swapped_deg": 3.8,
+      "calib_err_deg": 11.0,
+      "applied": true
+     }
+    ]
+   }
+  },
+  "applied": 4
+ },
  "release": {
   "release_path": "actions/locomanipulation/LM10/session_019",
   "family": "locomanipulation",
   "primitive": "LM10",
   "source_session": "20261023/LM10/20261023_115156_session57"
- }
+ },
+ "objects": [
+  {
+   "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": "rigid_body"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM10/session_019/motions/markers.npz

@@ -1,3 +1,3 @@
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-size 9135039
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+size 9075879

actions/locomanipulation/LM10/session_019/motions/object_markers.npz

@@ -0,0 +1,3 @@
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+size 1746809

actions/locomanipulation/LM10/session_019/motions/objects.json

@@ -0,0 +1,156 @@
+{
+ "session": "20261023/LM10/20261023_115156_session57",
+ "generated_at_utc": "2026-10-28T11:07:49.776520+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": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 58.49,
+   "verified_pct": 58.46,
+   "moving_pct": 13.21,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.83
+   },
+   "valid_pct": 39.17,
+   "verified_pct": 39.14,
+   "moving_pct": 6.36,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.55
+   },
+   "valid_pct": 54.5,
+   "verified_pct": 54.48,
+   "moving_pct": 21.13,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.4
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+   "verified_pct": 29.22,
+   "moving_pct": 9.88,
+   "vision_source": null
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+  {
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "calibration": null,
+   "valid_pct": 28.41,
+   "verified_pct": 28.35,
+   "moving_pct": 19.3,
+   "vision_source": null
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "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
+  }
+ ],
+ "absent": [
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "valid_s": 0.6
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+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6",
+   "Table0"
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+  "listed": [
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+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox5",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}