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actions/locomanipulation/LM45/session_008/motions/objects.json

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+{
+ "session": "20261024/LM45/20261024_015114_session2",
+ "generated_at_utc": "2026-10-29T13:34:33.345895+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": 3.89,
+   "verified_pct": 3.83,
+   "moving_pct": 3.81,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 0.92
+   },
+   "valid_pct": 5.78,
+   "verified_pct": 5.76,
+   "moving_pct": 5.77,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.49
+   },
+   "valid_pct": 40.64,
+   "verified_pct": 40.6,
+   "moving_pct": 8.76,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.45
+   },
+   "valid_pct": 41.6,
+   "verified_pct": 41.57,
+   "moving_pct": 10.5,
+   "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": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "table -> Table"
+  ],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "Table0"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "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": "Table",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM45/session_008/motions/objects.npz

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+size 1163441

actions/locomanipulation/LM45/session_008/motions/smplx.npz

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actions/locomanipulation/LM45/session_009/meta.json

@@ -423,19 +423,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 170.5,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.96139,
-     -0.02536,
-     0.29131
+     2.98163,
+     -0.44128,
+     -0.88585
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 130.4,
-    "opposite_sign_bend_deg": 75.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 168.2,
+    "opposite_sign_bend_deg": 38.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.88,
     "hand_vs_marker_frame_deg": {
-     "before": 170.19,
+     "before": 178.95,
      "after": 2.88
     },
     "markers_on_wrist": [
@@ -444,15 +444,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -126.25,
+     "twist_moved_deg": -165.65,
      "wrist_twist_deg_after": {
-      "median": -0.01,
+      "median": -1.22,
       "iqr": [
-       -5.3,
-       6.6
+       -7.3,
+       2.7
       ]
      },
-     "wrist_total_deg_median_after": 39.0,
+     "wrist_total_deg_median_after": 38.0,
      "markers_on_forearm": [
       "LElbow",
       "LElbowIn",
@@ -464,19 +464,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 93.27,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     1.58789,
-     0.33989,
-     0.11311
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 77.1,
-    "opposite_sign_bend_deg": 114.9,
+    "wrist_bend_deg_median": 18.4,
+    "opposite_sign_bend_deg": 173.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.82,
     "hand_vs_marker_frame_deg": {
-     "before": 93.71,
+     "before": 3.82,
      "after": 3.82
     },
     "markers_on_wrist": [
@@ -485,7 +485,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -75.84,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -502,7 +502,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T17:59:55.760062+00:00",
+   "generated_at_utc": "2026-10-28T06:49:33.446351+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -511,5 +511,37 @@
   "family": "locomanipulation",
   "primitive": "LM45",
   "source_session": "20261024/LM45/20261024_015452_session4"
- }
+ },
+ "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"
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+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM45/session_009/motions/object_markers.npz

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actions/locomanipulation/LM45/session_009/motions/objects.json

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+{
+ "session": "20261024/LM45/20261024_015452_session4",
+ "generated_at_utc": "2026-10-29T13:34:36.970836+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": [
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+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "valid_pct": 51.15,
+   "verified_pct": 51.09,
+   "moving_pct": 6.32,
+   "vision_source": null
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+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.66
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+   "verified_pct": 78.45,
+   "moving_pct": 11.95,
+   "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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+   "vision_source": null
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+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.38
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+   "verified_pct": 16.79,
+   "moving_pct": 9.52,
+   "vision_source": null
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+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
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+   "calibration": null,
+   "valid_pct": 99.99,
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+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "table -> Table"
+  ],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "Table0"
+  ],
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+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
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+    "source": "mocap",
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+  ]
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+ "notes": []
+}

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