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actions/locomanipulation/LM16/session_023/meta.json

@@ -449,19 +449,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 64.55,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -1.1162,
-     -0.07086,
-     0.13492
+     2.99022,
+     -0.44902,
+     -0.85238
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 74.6,
-    "opposite_sign_bend_deg": 107.7,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 177.4,
+    "opposite_sign_bend_deg": 22.4,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.87,
     "hand_vs_marker_frame_deg": {
-     "before": 64.16,
+     "before": 178.99,
      "after": 1.87
     },
     "markers_on_wrist": [
@@ -469,15 +469,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -71.62,
+     "twist_moved_deg": 175.43,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 2.76,
       "iqr": [
-       -2.8,
-       1.5
+       -0.0,
+       4.6
       ]
      },
-     "wrist_total_deg_median_after": 22.4,
+     "wrist_total_deg_median_after": 20.9,
      "markers_on_forearm": [
       "LWristIn",
       "LWristOut"
@@ -487,19 +487,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 35.46,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.13715,
-     0.4733,
-     -0.37445
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 53.9,
-    "opposite_sign_bend_deg": 135.0,
+    "wrist_bend_deg_median": 23.7,
+    "opposite_sign_bend_deg": 176.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.22,
     "hand_vs_marker_frame_deg": {
-     "before": 35.28,
+     "before": 1.22,
      "after": 1.22
     },
     "markers_on_wrist": [
@@ -509,9 +509,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -48.57,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -2.3,
        7.8
@@ -524,7 +524,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-22T22:19:14.217300+00:00",
+   "generated_at_utc": "2026-10-28T06:36:16.439619+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -533,5 +533,31 @@
   "family": "locomanipulation",
   "primitive": "LM16",
   "source_session": "20261013/LM16/20261013_021302_session31"
- }
+ },
+ "objects": [
+  {
+   "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": "mesh"
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  }
+ ]
 }

actions/locomanipulation/LM16/session_023/motions/object_markers.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34904adb70b0a63c490fc437f83cb7696fe7e6346178fe7e06df805f65a4cc9b
+size 1486541

actions/locomanipulation/LM16/session_023/motions/objects.json

@@ -0,0 +1,107 @@
+{
+ "session": "20261013/LM16/20261013_021302_session31",
+ "generated_at_utc": "2026-10-28T09:26:52.360268+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",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 33.8,
+   "verified_pct": 33.7,
+   "moving_pct": 21.18,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox2",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox2",
+    "rms_mm": 1.39
+   },
+   "valid_pct": 10.81,
+   "verified_pct": 10.77,
+   "moving_pct": 5.45,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox3",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox3",
+    "rms_mm": 0.44
+   },
+   "valid_pct": 92.86,
+   "verified_pct": 92.77,
+   "moving_pct": 83.92,
+   "vision_source": null
+  },
+  {
+   "name": "LittleBox4",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/LittleBox/littlebox.ply",
+   "calibration": {
+    "instance": "LittleBox4",
+    "rms_mm": 0.73
+   },
+   "valid_pct": 82.07,
+   "verified_pct": 81.98,
+   "moving_pct": 72.43,
+   "vision_source": null
+  }
+ ],
+ "absent": [],
+ "object_list": {
+  "status": "match",
+  "notes": [],
+  "declared": [
+   "LittleBox1",
+   "LittleBox2",
+   "LittleBox3",
+   "LittleBox4"
+  ],
+  "listed": [
+   {
+    "name": "LittleBox1",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox2",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox3",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "LittleBox4",
+    "object": "LittleBox",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": [
+  "LittleBox: mocap tracked, vision run not exported"
+ ]
+}

actions/locomanipulation/LM16/session_023/motions/objects.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1627506