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actions/locomotion_primitives/P28/session_008/meta.json

@@ -437,19 +437,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 156.82,
+    "Q_deg": 180.0,
     "Q_rotvec": [
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-     -0.25594,
-     -0.39139
+     -2.98447,
+     0.44488,
+     0.87443
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-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 131.1,
-    "opposite_sign_bend_deg": 51.2,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 177.9,
+    "opposite_sign_bend_deg": 22.6,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.56,
     "hand_vs_marker_frame_deg": {
-     "before": 156.87,
+     "before": 179.73,
      "after": 0.56
     },
     "markers_on_wrist": [
@@ -458,15 +458,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 130.11,
+     "twist_moved_deg": -177.7,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": -0.26,
       "iqr": [
-       -1.2,
-       1.0
+       -1.1,
+       0.6
       ]
      },
-     "wrist_total_deg_median_after": 22.6,
+     "wrist_total_deg_median_after": 18.8,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn"
@@ -476,19 +476,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 65.74,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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-     0.27411,
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+     -0.0,
+     0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 78.8,
-    "opposite_sign_bend_deg": 112.7,
+    "wrist_bend_deg_median": 21.6,
+    "opposite_sign_bend_deg": 174.2,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.66,
     "hand_vs_marker_frame_deg": {
-     "before": 65.85,
+     "before": 0.66,
      "after": 0.66
     },
     "markers_on_wrist": [
@@ -496,7 +496,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -76.08,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -514,7 +514,7 @@
     },
     "frames_used": 1254
    },
-   "generated_at_utc": "2026-10-26T13:24:53.931449+00:00",
+   "generated_at_utc": "2026-10-28T06:45:57.387365+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -523,5 +523,37 @@
   "family": "locomotion_primitives",
   "primitive": "P28",
   "source_session": "20261021/P28/20261021_034453_session43"
- }
+ },
+ "objects": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomotion_primitives/P28/session_008/motions/object_markers.npz

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actions/locomotion_primitives/P28/session_008/motions/objects.json

@@ -0,0 +1,118 @@
+{
+ "session": "20261021/P28/20261021_034453_session43",
+ "generated_at_utc": "2026-10-29T13:10:10.952901+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": "CcBlue",
+   "object_type": "CcBlue",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcBlue/ccblue.ply",
+   "calibration": {
+    "instance": "CcBlue_1",
+    "rms_mm": 0.24
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.98,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcGreen/ccgreen.ply",
+   "calibration": {
+    "instance": "CcGreen",
+    "rms_mm": 0.67
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+   "valid_pct": 99.99,
+   "verified_pct": 99.98,
+   "moving_pct": 0.0,
+   "vision_source": null
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+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcOrange/ccorange.ply",
+   "calibration": {
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+    "rms_mm": 0.6
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+   "valid_pct": 99.99,
+   "verified_pct": 99.98,
+   "moving_pct": 0.0,
+   "vision_source": null
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+  {
+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 99.99,
+   "verified_pct": 99.98,
+   "moving_pct": 0.0,
+   "vision_source": null
+  }
+ ],
+ "absent": [
+  {
+   "name": "BigBox",
+   "object_type": "BigBox",
+   "valid_s": 0.01
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "BigBox0",
+   "CcBlue0",
+   "CcGreen0",
+   "CcOrange0",
+   "CcYellow0"
+  ],
+  "listed": [
+   {
+    "name": "BigBox",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcBlue",
+    "object": "CcBlue",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcGreen",
+    "object": "CcGreen",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcOrange",
+    "object": "CcOrange",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcYellow",
+    "object": "CcYellow",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomotion_primitives/P28/session_008/motions/objects.npz

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actions/locomotion_primitives/P28/session_008/motions/smplx.npz

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actions/locomotion_primitives/P28/session_009/meta.json

@@ -356,7 +356,7 @@
   ]
  },
  "smplx": {
-  "generated_at_utc": "2026-10-26T13:25:23.137299+00:00",
+  "generated_at_utc": "2026-10-27T18:47:10.797854+00:00",
   "generated_by": "scripts/fit_smplx_dataset.py",
   "file": "smplx.npz",
   "gender": "female",
@@ -371,46 +371,46 @@
    "hand_marker_offsets_m": {
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-      0.013337650336325169,
-      0.00934059452265501
+      0.08756300061941147,
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+      0.009435739368200302
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      "LHandOut": [
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-      0.009198920801281929,
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+      0.0760536715388298,
+      0.008090055547654629,
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     "right": {
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-      0.007328360341489315,
-      0.030255498364567757
+      -0.07712434977293015,
+      0.00963358674198389,
+      0.03041943348944187
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      "RHandOut": [
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-      0.022262081503868103,
-      -0.015531111508607864
+      -0.07771515101194382,
+      0.019313931465148926,
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   "marker_rmse_mm": {
-   "median_frame": 3.76,
-   "p95_frame": 8.1
+   "median_frame": 3.68,
+   "p95_frame": 8.05
   },
   "worst_markers": [
-   "LElbowIn 12mm",
-   "LKneeIn 9mm",
+   "LElbowIn 10mm",
    "RKneeIn 9mm",
-   "LKnee 9mm",
-   "LForearm 8mm"
+   "LForearm 9mm",
+   "LKneeIn 9mm",
+   "LWristIn 8mm"
   ],
   "valid_fraction": 1.0,
   "qc": {
    "lowest_vertex_mm": {
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-    "p5": 15.5
+    "median": 19.6,
+    "p5": 15.7
    },
    "frames_checked": 513,
    "stature_mm": 1616.5
@@ -419,80 +419,80 @@
    "weight": 1.0,
    "marker_height_mm": 11.0,
    "markers_on_surface": 52,
-   "surface_rmse_mm_median": 13.09
+   "surface_rmse_mm_median": 12.32
   },
   "shape_source": "participant median",
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 179.74,
+    "Q_deg": 0.0,
     "Q_rotvec": [
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+     -0.0,
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+     0.0
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-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
-    "marker_frame_spread_deg": 0.99,
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 11.4,
+    "opposite_sign_bend_deg": 176.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
+    "marker_frame_spread_deg": 1.0,
     "hand_vs_marker_frame_deg": {
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-     "after": 0.99
+     "before": 1.0,
+     "after": 1.0
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     "markers_on_wrist": [
      "LHandIn",
      "LHandOut"
     ],
     "forearm_twist": {
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      "wrist_twist_deg_after": {
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       "iqr": [
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+       -1.6,
        1.4
       ]
      },
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+     "wrist_total_deg_median_after": 11.5,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
       "LWristOut"
      ]
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     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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     "markers_on_wrist": [
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@@ -503,14 +503,112 @@
     },
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+   "generated_at_utc": "2026-10-28T06:45:58.012909+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
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+  "generated_at_utc": "2026-10-27T14:48:32.387910+00:00",
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+      "confirm": "imu",
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+      "calib_err_deg": 5.4,
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  "release": {
   "release_path": "actions/locomotion_primitives/P28/session_009",
   "family": "locomotion_primitives",
   "primitive": "P28",
   "source_session": "20261021/P28/20261021_120450_session19"
- }
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+   "source": "mocap",
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+  {
+   "name": "BigBox2",
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+   "source": "mocap",
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+   "object_type": "CcGreen",
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+   "source": "mocap",
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+   "object_type": "CcYellow",
+   "source": "mocap",
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+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
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+  {
+   "name": "Table2",
+   "object_type": "Table",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "Desk",
+   "object_type": "Desk",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomotion_primitives/P28/session_009/motions/markers.npz

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actions/locomotion_primitives/P28/session_009/motions/objects.json

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+{
+ "session": "20261021/P28/20261021_120450_session19",
+ "generated_at_utc": "2026-10-29T13:10:14.578219+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": [
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+   "object_type": "CcGreen",
+   "source": "mocap",
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+   "mesh": "objects/CcGreen/ccgreen.ply",
+   "calibration": {
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+   "source": "mocap",
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+   "mesh": "objects/CcOrange/ccorange.ply",
+   "calibration": {
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+    "rms_mm": 0.58
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+   "source": "mocap",
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+   "object_type": "BigBox",
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+   "desk -> Desk"
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+   "BigBox2",
+   "CcGreen0",
+   "CcOrange0",
+   "CcRed0",
+   "CcYellow0",
+   "Desk0",
+   "LittleBox5",
+   "LittleBox6",
+   "Table2"
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+  "listed": [
+   {
+    "name": "ArmlessChair",
+    "object": "ArmlessChair",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "BigBox2",
+    "object": "BigBox",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcGreen",
+    "object": "CcGreen",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcOrange",
+    "object": "CcOrange",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcRed",
+    "object": "CcRed",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcYellow",
+    "object": "CcYellow",
+    "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
+   },
+   {
+    "name": "Table2",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "Desk",
+    "object": null,
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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