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actions/locomanipulation/LM75/session_001/meta.json

@@ -385,19 +385,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 154.22,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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-     -0.10902,
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+     -2.98662,
+     0.4392,
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 145.9,
-    "opposite_sign_bend_deg": 46.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 173.2,
+    "opposite_sign_bend_deg": 27.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.52,
     "hand_vs_marker_frame_deg": {
-     "before": 154.03,
+     "before": 178.75,
      "after": 2.52
     },
     "markers_on_wrist": [
@@ -405,15 +405,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -144.97,
+     "twist_moved_deg": -171.49,
      "wrist_twist_deg_after": {
-      "median": -0.1,
+      "median": -3.45,
       "iqr": [
-       -4.7,
-       3.3
+       -8.6,
+       -0.0
       ]
      },
-     "wrist_total_deg_median_after": 27.0,
+     "wrist_total_deg_median_after": 24.9,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -424,19 +424,19 @@
    },
    "right": {
     "status": "corrected",
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+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.28112,
-     -0.1021
+     0.0,
+     0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 56.0,
-    "opposite_sign_bend_deg": 139.5,
+    "wrist_bend_deg_median": 26.6,
+    "opposite_sign_bend_deg": 171.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.38,
     "hand_vs_marker_frame_deg": {
-     "before": 25.81,
+     "before": 4.38,
      "after": 4.38
     },
     "markers_on_wrist": [
@@ -444,9 +444,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -47.04,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": 0.0,
+      "median": -0.0,
       "iqr": [
        -8.2,
        4.4
@@ -461,7 +461,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-14T23:31:19.924287+00:00",
+   "generated_at_utc": "2026-10-28T06:16:06.230634+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM75/session_001/motions/smplx.npz

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actions/locomanipulation/LM75/session_002/meta.json

@@ -438,19 +438,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 62.21,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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+     -2.98794,
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-    "opposite_sign_bend_deg": 103.1,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 170.0,
+    "opposite_sign_bend_deg": 22.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.05,
     "hand_vs_marker_frame_deg": {
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+     "before": 176.49,
      "after": 4.05
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     "markers_on_wrist": [
@@ -458,15 +458,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": 169.22,
      "wrist_twist_deg_after": {
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       "iqr": [
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+       -0.1,
+       10.3
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+     "wrist_total_deg_median_after": 35.7,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -477,19 +477,19 @@
    },
    "right": {
     "status": "corrected",
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+    "Q_deg": 0.0,
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+     0.0,
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+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 27.7,
-    "opposite_sign_bend_deg": 161.3,
+    "wrist_bend_deg_median": 16.8,
+    "opposite_sign_bend_deg": 173.0,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.15,
     "hand_vs_marker_frame_deg": {
-     "before": 25.08,
+     "before": 2.15,
      "after": 2.15
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     "markers_on_wrist": [
@@ -497,9 +497,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
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+      "median": -0.0,
       "iqr": [
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@@ -515,7 +515,7 @@
     },
     "frames_used": 1500
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-   "generated_at_utc": "2026-10-23T04:02:34.305536+00:00",
+   "generated_at_utc": "2026-10-28T06:41:21.606623+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -524,5 +524,13 @@
   "family": "locomanipulation",
   "primitive": "LM75",
   "source_session": "20261017/LM75/20261017_114556_session24"
- }
+ },
+ "objects": [
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM75/session_002/motions/object_markers.npz

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actions/locomanipulation/LM75/session_002/motions/objects.json

@@ -0,0 +1,41 @@
+{
+ "session": "20261017/LM75/20261017_114556_session24",
+ "generated_at_utc": "2026-10-29T12:48:35.569008+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": "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"
+  ],
+  "listed": [
+   {
+    "name": "Desk",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomanipulation/LM75/session_002/motions/objects.npz

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