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actions/locomotion_primitives/P26/session_010/meta.json

@@ -392,19 +392,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 169.89,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.81139,
-     -0.58147,
-     -0.74193
+     2.98163,
+     -0.44128,
+     -0.88585
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 172.8,
-    "opposite_sign_bend_deg": 9.5,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 178.9,
+    "opposite_sign_bend_deg": 34.3,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.46,
     "hand_vs_marker_frame_deg": {
-     "before": 169.99,
+     "before": 179.75,
      "after": 0.46
     },
     "markers_on_wrist": [
@@ -412,15 +412,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 172.19,
+     "twist_moved_deg": -178.11,
      "wrist_twist_deg_after": {
-      "median": 0.11,
+      "median": -1.38,
       "iqr": [
-       -0.9,
-       1.1
+       -2.3,
+       -0.6
       ]
      },
-     "wrist_total_deg_median_after": 34.7,
+     "wrist_total_deg_median_after": 6.0,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -431,19 +431,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 37.97,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.33925,
-     0.45383,
-     -0.34377
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 33.5,
-    "opposite_sign_bend_deg": 157.3,
+    "wrist_bend_deg_median": 20.4,
+    "opposite_sign_bend_deg": 176.6,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.63,
     "hand_vs_marker_frame_deg": {
-     "before": 38.0,
+     "before": 0.63,
      "after": 0.63
     },
     "markers_on_wrist": [
@@ -451,7 +451,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -26.56,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
@@ -469,7 +469,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T04:31:42.224567+00:00",
+   "generated_at_utc": "2026-10-28T06:41:41.378905+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },

actions/locomotion_primitives/P26/session_010/motions/smplx.npz

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actions/locomotion_primitives/P26/session_011/meta.json

@@ -413,19 +413,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 178.0,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.92536,
-     -0.21956,
-     -1.02278
+     -2.98839,
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-    "wrist_bend_deg_median": 172.4,
-    "opposite_sign_bend_deg": 13.8,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 177.2,
+    "opposite_sign_bend_deg": 36.0,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 1.48,
     "hand_vs_marker_frame_deg": {
-     "before": 178.09,
+     "before": 179.21,
      "after": 1.48
     },
     "markers_on_wrist": [
@@ -433,15 +433,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -171.33,
+     "twist_moved_deg": -171.68,
      "wrist_twist_deg_after": {
-      "median": -1.01,
+      "median": -6.78,
       "iqr": [
-       -3.6,
-       1.6
+       -9.3,
+       -4.1
       ]
      },
-     "wrist_total_deg_median_after": 36.3,
+     "wrist_total_deg_median_after": 11.6,
      "markers_on_forearm": [
       "LElbowIn",
       "LForearm",
@@ -453,19 +453,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 16.74,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.16369,
-     0.20438,
-     -0.12966
+     -0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 27.1,
-    "opposite_sign_bend_deg": 161.5,
+    "wrist_bend_deg_median": 16.8,
+    "opposite_sign_bend_deg": 176.9,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.97,
     "hand_vs_marker_frame_deg": {
-     "before": 16.79,
+     "before": 0.97,
      "after": 0.97
     },
     "markers_on_wrist": [
@@ -473,9 +473,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -21.71,
+     "twist_moved_deg": 0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -1.5,
        1.6
@@ -491,7 +491,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-26T13:25:07.132930+00:00",
+   "generated_at_utc": "2026-10-28T06:45:57.702111+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -500,5 +500,73 @@
   "family": "locomotion_primitives",
   "primitive": "P26",
   "source_session": "20261021/P26/20261021_120945_session20"
- }
+ },
+ "objects": [
+  {
+   "name": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "LowStep",
+   "object_type": "LowStep",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "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/P26/session_011/motions/object_markers.npz

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actions/locomotion_primitives/P26/session_011/motions/objects.json

@@ -0,0 +1,169 @@
+{
+ "session": "20261021/P26/20261021_120945_session20",
+ "generated_at_utc": "2026-10-29T13:09:58.816142+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": "CcYellow",
+   "object_type": "CcYellow",
+   "source": "mocap",
+   "pose_frame": "rigid_body",
+   "mesh": null,
+   "calibration": null,
+   "valid_pct": 11.57,
+   "verified_pct": 11.56,
+   "moving_pct": 11.37,
+   "vision_source": null
+  },
+  {
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+   "object_type": "LowStep",
+   "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": [
+  {
+   "name": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "valid_s": 0.58
+  },
+  {
+   "name": "BigBox2",
+   "object_type": "BigBox",
+   "valid_s": 0.0
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "valid_s": 0.0
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+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "valid_s": 0.02
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+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "valid_s": 0.12
+  },
+  {
+   "name": "LittleBox5",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
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+  {
+   "name": "LittleBox6",
+   "object_type": "LittleBox",
+   "valid_s": 0.0
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+   "object_type": "Table",
+   "valid_s": 0.0
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+  {
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+   "object_type": "Desk",
+   "valid_s": 0.0
+  }
+ ],
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+  "status": "corrected",
+  "notes": [
+   "desk -> Desk"
+  ],
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+   "BigBox2",
+   "CcGreen0",
+   "CcOrange0",
+   "CcRed0",
+   "CcYellow0",
+   "Desk0",
+   "LittleBox5",
+   "LittleBox6",
+   "LowStep0",
+   "Table2"
+  ],
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+    "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
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+   {
+    "name": "CcOrange",
+    "object": "CcOrange",
+    "source": "mocap",
+    "needs_video_check": false
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+    "object": "CcRed",
+    "source": "mocap",
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+    "name": "CcYellow",
+    "object": "CcYellow",
+    "source": "mocap",
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+    "object": "LittleBox",
+    "source": "mocap",
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+   {
+    "name": "LittleBox6",
+    "object": "LittleBox",
+    "source": "mocap",
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+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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