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actions/locomanipulation/LM50/session_004/motions/objects.json

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+{
+ "session": "20261017/LM50/20261017_092535_session121",
+ "generated_at_utc": "2026-10-29T12:46:58.892796+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",
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+   "verified_pct": 91.73,
+   "moving_pct": 7.87,
+   "vision_source": null
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 0.49
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+   "verified_pct": 99.66,
+   "moving_pct": 13.19,
+   "vision_source": null
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+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
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+   "verified_pct": 92.78,
+   "moving_pct": 3.26,
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+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "mesh": "objects/LittleBox/littlebox.ply",
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+   "moving_pct": 7.28,
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+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+    "rms_mm": 1.45
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+   "verified_pct": 98.07,
+   "moving_pct": 6.92,
+   "vision_source": null
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+   "name": "Desk",
+   "object_type": "Desk",
+   "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": [
+   "desk -> Desk"
+  ],
+  "declared": [
+   "desk",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6"
+  ],
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+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "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
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+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "Desk",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM50/session_004/motions/objects.npz

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actions/locomanipulation/LM50/session_004/motions/smplx.npz

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actions/locomanipulation/LM50/session_005/meta.json

@@ -447,19 +447,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 166.88,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.90134,
-     0.25555,
-     -0.01544
+     -3.02575,
+     0.26943,
+     0.80116
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-    "wrist_bend_deg_median": 127.2,
-    "opposite_sign_bend_deg": 54.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 172.5,
+    "opposite_sign_bend_deg": 35.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.73,
     "hand_vs_marker_frame_deg": {
-     "before": 166.95,
+     "before": 178.49,
      "after": 2.73
     },
     "markers_on_wrist": [
@@ -468,15 +468,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 126.34,
+     "twist_moved_deg": -158.75,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -19.67,
       "iqr": [
-       -7.6,
-       11.7
+       -27.8,
+       -7.3
       ]
      },
-     "wrist_total_deg_median_after": 36.0,
+     "wrist_total_deg_median_after": 22.2,
      "markers_on_forearm": [
       "LElbow",
       "LForearm",
@@ -487,19 +487,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 26.89,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.36992,
-     0.25364,
-     -0.13838
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 21.1,
-    "opposite_sign_bend_deg": 161.1,
+    "wrist_bend_deg_median": 9.8,
+    "opposite_sign_bend_deg": 176.3,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.6,
     "hand_vs_marker_frame_deg": {
-     "before": 26.87,
+     "before": 3.6,
      "after": 3.6
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     "markers_on_wrist": [
@@ -508,9 +508,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -21.01,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
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        5.1
@@ -524,7 +524,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T05:49:36.990034+00:00",
+   "generated_at_utc": "2026-10-28T06:42:44.515020+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -533,5 +533,31 @@
   "family": "locomanipulation",
   "primitive": "LM50",
   "source_session": "20261019/LM50/20261019_113253_session30"
- }
+ },
+ "objects": [
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+   "name": "LittleBox1",
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+   "source": "mocap",
+   "pose_frame": "rigid_body"
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+   "source": "mocap",
+   "pose_frame": "mesh"
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+   "object_type": "LittleBox",
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+  {
+   "name": "Table",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM50/session_005/motions/object_markers.npz

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actions/locomanipulation/LM50/session_005/motions/objects.json

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+ "generated_at_utc": "2026-10-29T12:54:55.172946+00:00",
+ "generated_by": "scripts/export_objects.py",
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+ "grid": "body grid (smplx.npz t / frame_index)",
+ "held_by": "from mocap hands",
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+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "calibration": {
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