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actions/locomanipulation/LM31/session_023/meta.json

@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 167.18,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.83162,
-     0.12047,
-     0.69376
+     2.98447,
+     -0.44488,
+     -0.87443
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 146.4,
-    "opposite_sign_bend_deg": 38.3,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 178.4,
+    "opposite_sign_bend_deg": 31.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.48,
     "hand_vs_marker_frame_deg": {
-     "before": 167.26,
+     "before": 179.75,
      "after": 0.48
     },
     "markers_on_wrist": [
@@ -452,15 +452,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -144.53,
+     "twist_moved_deg": -176.61,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -1.22,
       "iqr": [
-       -1.7,
-       1.9
+       -3.1,
+       0.4
       ]
      },
-     "wrist_total_deg_median_after": 31.6,
+     "wrist_total_deg_median_after": 11.1,
      "markers_on_forearm": [
       "LElbow",
       "LElbowIn",
@@ -473,19 +473,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 57.13,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.94632,
-     0.12514,
-     -0.28819
+     -0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 55.4,
-    "opposite_sign_bend_deg": 139.1,
+    "wrist_bend_deg_median": 28.6,
+    "opposite_sign_bend_deg": 173.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.7,
     "hand_vs_marker_frame_deg": {
-     "before": 57.0,
+     "before": 0.7,
      "after": 0.7
     },
     "markers_on_wrist": [
@@ -493,7 +493,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -48.16,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -512,7 +512,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T12:24:42.971153+00:00",
+   "generated_at_utc": "2026-10-28T06:45:04.294284+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -521,5 +521,19 @@
   "family": "locomanipulation",
   "primitive": "LM31",
   "source_session": "20261021/LM31/20261021_041901_session51"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LowStep",
+   "object_type": "LowStep",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM31/session_023/motions/object_markers.npz

@@ -0,0 +1,3 @@
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+size 1436624

actions/locomanipulation/LM31/session_023/motions/objects.json

@@ -0,0 +1,61 @@
+{
+ "session": "20261021/LM31/20261021_041901_session51",
+ "generated_at_utc": "2026-10-29T13:05:15.058688+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": "mesh",
+   "mesh": "objects/BigBox/bigbox.ply",
+   "calibration": {
+    "instance": "BigBox",
+    "rms_mm": 1.32
+   },
+   "valid_pct": 99.79,
+   "verified_pct": 99.79,
+   "moving_pct": 80.51,
+   "vision_source": null
+  },
+  {
+   "name": "LowStep",
+   "object_type": "LowStep",
+   "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": [],
+  "declared": [
+   "BigBox0",
+   "LowStep0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LowStep",
+    "object": "LowStep",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM31/session_023/motions/objects.npz

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+size 1512816

actions/locomanipulation/LM31/session_023/motions/smplx.npz

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