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actions/locomanipulation/LM78/session_001/meta.json

@@ -387,19 +387,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 151.39,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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+     -2.98662,
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-    "wrist_bend_deg_median": 142.7,
-    "opposite_sign_bend_deg": 53.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 172.0,
+    "opposite_sign_bend_deg": 26.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 2.61,
     "hand_vs_marker_frame_deg": {
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+     "before": 178.61,
      "after": 2.61
     },
     "markers_on_wrist": [
@@ -407,15 +407,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -141.68,
+     "twist_moved_deg": -169.4,
      "wrist_twist_deg_after": {
-      "median": -0.31,
+      "median": -3.51,
       "iqr": [
-       -5.4,
-       4.9
+       -9.6,
+       0.4
       ]
      },
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+     "wrist_total_deg_median_after": 30.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -426,19 +426,19 @@
    },
    "right": {
     "status": "corrected",
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+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.52871,
-     -0.25932
+     0.0,
+     0.0,
+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 45.2,
-    "opposite_sign_bend_deg": 149.1,
+    "wrist_bend_deg_median": 25.4,
+    "opposite_sign_bend_deg": 173.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 4.13,
     "hand_vs_marker_frame_deg": {
-     "before": 55.84,
+     "before": 4.13,
      "after": 4.13
     },
     "markers_on_wrist": [
@@ -446,9 +446,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -35.43,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
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+      "median": -0.0,
       "iqr": [
        -8.3,
        4.7
@@ -463,7 +463,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-14T23:32:50.410506+00:00",
+   "generated_at_utc": "2026-10-28T06:16:06.661215+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomanipulation/LM78/session_001/motions/smplx.npz

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actions/locomanipulation/LM78/session_002/meta.json

@@ -443,19 +443,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 20.71,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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+     -2.98794,
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-    "opposite_sign_bend_deg": 156.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
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+    "opposite_sign_bend_deg": 30.8,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 3.34,
     "hand_vs_marker_frame_deg": {
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+     "before": 178.65,
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     "markers_on_wrist": [
@@ -463,15 +463,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": 157.51,
      "wrist_twist_deg_after": {
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       "iqr": [
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+       3.2,
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      },
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+     "wrist_total_deg_median_after": 42.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -482,19 +482,19 @@
    },
    "right": {
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+     -0.0,
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+     -0.0
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     "in_out_sign": 1,
-    "wrist_bend_deg_median": 75.5,
-    "opposite_sign_bend_deg": 113.3,
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+    "opposite_sign_bend_deg": 172.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.97,
     "hand_vs_marker_frame_deg": {
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+     "before": 1.97,
      "after": 1.97
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     "markers_on_wrist": [
@@ -503,9 +503,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
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+     "twist_moved_deg": -0.01,
      "wrist_twist_deg_after": {
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+      "median": -0.0,
       "iqr": [
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@@ -520,7 +520,7 @@
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     "frames_used": 1500
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-   "generated_at_utc": "2026-10-23T04:07:05.324127+00:00",
+   "generated_at_utc": "2026-10-28T06:41:23.350630+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -529,5 +529,49 @@
   "family": "locomanipulation",
   "primitive": "LM78",
   "source_session": "20261017/LM78/20261017_101511_session3"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox1",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomanipulation/LM78/session_002/motions/object_markers.npz

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actions/locomanipulation/LM78/session_002/motions/objects.json

@@ -0,0 +1,148 @@
+{
+ "session": "20261017/LM78/20261017_101511_session3",
+ "generated_at_utc": "2026-10-29T12:49:18.346350+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": {
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+    "rms_mm": 0.72
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+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
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+   "vision_source": null
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+   "calibration": null,
+   "valid_pct": 2.69,
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+   "vision_source": null
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+   "object_type": "LittleBox",
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+   "object_type": "LittleBox",
+   "source": "mocap",
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+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
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+   "verified_pct": 40.73,
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+   "vision_source": null
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+   "source": "mocap",
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+   "valid_pct": 99.99,
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+   "object_type": "LittleBox",
+   "valid_s": 0.27
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [
+   "desk -> Desk"
+  ],
+  "declared": [
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+   "BigBox2",
+   "desk",
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4"
+  ],
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+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
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+    "object": "BigBox",
+    "source": "mocap",
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+    "source": "mocap",
+    "needs_video_check": false
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+   {
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+ },
+ "notes": []
+}

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