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+ "session_id": "20261026_061622_session21",
+ "primitive": "LM06",
+ "batch": "20261026",
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+    "wrist_bend_deg_median": 173.6,
+    "opposite_sign_bend_deg": 40.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.58,
+    "hand_vs_marker_frame_deg": {
+     "before": 179.47,
+     "after": 3.58
+    },
+    "markers_on_wrist": [
+     "LHandIn",
+     "LHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -170.5,
+     "wrist_twist_deg_after": {
+      "median": -4.64,
+      "iqr": [
+       -10.2,
+       -0.7
+      ]
+     },
+     "wrist_total_deg_median_after": 19.2,
+     "markers_on_forearm": [
+      "LForearm",
+      "LWristIn",
+      "LWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "right": {
+    "status": "corrected",
+    "Q_deg": 0.0,
+    "Q_rotvec": [
+     0.0,
+     0.0,
+     -0.0
+    ],
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 30.4,
+    "opposite_sign_bend_deg": 170.1,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 3.1,
+    "hand_vs_marker_frame_deg": {
+     "before": 3.1,
+     "after": 3.1
+    },
+    "markers_on_wrist": [
+     "RHandIn",
+     "RHandOut"
+    ],
+    "forearm_twist": {
+     "twist_moved_deg": -0.08,
+     "wrist_twist_deg_after": {
+      "median": 0.0,
+      "iqr": [
+       -11.8,
+       10.9
+      ]
+     },
+     "wrist_total_deg_median_after": 30.5,
+     "markers_on_forearm": [
+      "RElbow",
+      "RElbowIn",
+      "RForearm",
+      "RWristIn",
+      "RWristOut"
+     ]
+    },
+    "frames_used": 1500
+   },
+   "generated_at_utc": "2026-10-28T06:50:38.889734+00:00",
+   "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
+  }
+ },
+ "release": {
+  "release_path": "actions/locomanipulation/LM06/session_012",
+  "family": "locomanipulation",
+  "primitive": "LM06",
+  "source_session": "20261026/LM06/20261026_061622_session21"
+ }
+}