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actions/locomanipulation/LM16/session_034/meta.json

@@ -432,19 +432,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 100.34,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.55674,
-     -0.36747,
-     0.71315
+     2.98827,
+     -0.45012,
+     -0.85862
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 102.3,
-    "opposite_sign_bend_deg": 98.9,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 173.9,
+    "opposite_sign_bend_deg": 59.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.31,
     "hand_vs_marker_frame_deg": {
-     "before": 99.98,
+     "before": 179.21,
      "after": 1.31
     },
     "markers_on_wrist": [
@@ -453,15 +453,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -87.94,
+     "twist_moved_deg": -169.58,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -5.69,
       "iqr": [
-       -3.0,
-       4.4
+       -10.2,
+       0.4
       ]
      },
-     "wrist_total_deg_median_after": 59.1,
+     "wrist_total_deg_median_after": 25.8,
      "markers_on_forearm": [
       "LElbow",
       "LElbowIn",
@@ -473,20 +473,20 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 119.62,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     2.02024,
-     -0.09147,
-     -0.51883
+     0.0,
+     0.0,
+     -0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 90.6,
-    "opposite_sign_bend_deg": 108.9,
+    "wrist_bend_deg_median": 25.7,
+    "opposite_sign_bend_deg": 174.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 1.42,
+    "marker_frame_spread_deg": 1.41,
     "hand_vs_marker_frame_deg": {
-     "before": 120.4,
-     "after": 1.42
+     "before": 1.42,
+     "after": 1.41
     },
     "markers_on_wrist": [
      "RWristOut",
@@ -494,9 +494,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -87.61,
+     "twist_moved_deg": -0.01,
      "wrist_twist_deg_after": {
-      "median": -0.01,
+      "median": -0.0,
       "iqr": [
        -2.4,
        1.6
@@ -510,7 +510,7 @@
     },
     "frames_used": 1487
    },
-   "generated_at_utc": "2026-10-23T03:09:44.683008+00:00",
+   "generated_at_utc": "2026-10-28T06:40:35.024689+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -519,5 +519,31 @@
   "family": "locomanipulation",
   "primitive": "LM16",
   "source_session": "20261017/LM16/20261017_060236_session84"
- }
+ },
+ "objects": [
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "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"
+  }
+ ]
 }

actions/locomanipulation/LM16/session_034/motions/object_markers.npz

@@ -0,0 +1,3 @@
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+size 270211

actions/locomanipulation/LM16/session_034/motions/objects.json

@@ -0,0 +1,101 @@
+{
+ "session": "20261017/LM16/20261017_060236_session84",
+ "generated_at_utc": "2026-10-28T10:00:19.707947+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": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 1.65,
+   "verified_pct": 1.64,
+   "moving_pct": 1.18,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 1.19
+   },
+   "valid_pct": 27.44,
+   "verified_pct": 27.27,
+   "moving_pct": 22.53,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 2.64,
+   "verified_pct": 2.61,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 0.9,
+   "verified_pct": 0.89,
+   "moving_pct": 0.9,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "LittleBox3",
+   "LittleBox4",
+   "LittleBox5",
+   "LittleBox6"
+  ],
+  "listed": [
+   {
+    "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
+   }
+  ]
+ },
+ "notes": [
+  "LittleBox: mocap tracked, vision run not exported"
+ ]
+}

actions/locomanipulation/LM16/session_034/motions/objects.npz

@@ -0,0 +1,3 @@
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actions/locomanipulation/LM16/session_034/motions/smplx.npz

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