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actions/locomotion_primitives/P28/session_006/meta.json

@@ -446,19 +446,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 171.15,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     2.94564,
-     -0.29135,
-     -0.40146
+     2.98442,
+     -0.43848,
+     -0.87784
     ],
-    "in_out_sign": -1,
-    "wrist_bend_deg_median": 175.8,
-    "opposite_sign_bend_deg": 25.5,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 175.4,
+    "opposite_sign_bend_deg": 23.7,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.95,
     "hand_vs_marker_frame_deg": {
-     "before": 171.2,
+     "before": 179.24,
      "after": 0.95
     },
     "markers_on_wrist": [
@@ -467,15 +467,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -175.7,
+     "twist_moved_deg": -175.32,
      "wrist_twist_deg_after": {
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+      "median": -0.04,
       "iqr": [
-       -1.3,
+       -1.2,
        0.7
       ]
      },
-     "wrist_total_deg_median_after": 23.7,
+     "wrist_total_deg_median_after": 24.2,
      "markers_on_forearm": [
       "LElbow",
       "LElbowIn",
@@ -487,19 +487,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 28.73,
+    "Q_deg": 0.0,
     "Q_rotvec": [
-     0.4838,
-     0.00255,
-     0.13167
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 24.2,
-    "opposite_sign_bend_deg": 165.4,
+    "wrist_bend_deg_median": 14.4,
+    "opposite_sign_bend_deg": 176.4,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.54,
     "hand_vs_marker_frame_deg": {
-     "before": 28.74,
+     "before": 0.54,
      "after": 0.54
     },
     "markers_on_wrist": [
@@ -507,9 +507,9 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -19.56,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
-      "median": -0.0,
+      "median": 0.0,
       "iqr": [
        -0.9,
        1.5
@@ -524,7 +524,7 @@
     },
     "frames_used": 1379
    },
-   "generated_at_utc": "2026-10-23T04:32:52.024976+00:00",
+   "generated_at_utc": "2026-10-28T06:41:41.483266+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -533,5 +533,37 @@
   "family": "locomotion_primitives",
   "primitive": "P28",
   "source_session": "20261017/P28/20261017_014955_session10"
- }
+ },
+ "objects": [
+  {
+   "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": "CcRed",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomotion_primitives/P28/session_006/motions/object_markers.npz

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actions/locomotion_primitives/P28/session_006/motions/objects.json

@@ -0,0 +1,126 @@
+{
+ "session": "20261017/P28/20261017_014955_session10",
+ "generated_at_utc": "2026-10-29T12:50:10.338786+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",
+    "rms_mm": 0.46
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "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": 0.4
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcOrange/ccorange.ply",
+   "calibration": {
+    "instance": "CcOrange",
+    "rms_mm": 0.65
+   },
+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
+  },
+  {
+   "name": "CcRed",
+   "object_type": "CcRed",
+   "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
+  },
+  {
+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "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": [],
+ "object_list": {
+  "status": "match",
+  "notes": [
+   "stale CcBule export ignored (CcBlue present)"
+  ],
+  "declared": [
+   "CcBlue",
+   "CcGreen",
+   "CcOrange",
+   "CcRed",
+   "CcYellow"
+  ],
+  "listed": [
+   {
+    "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": "CcRed",
+    "object": "CcRed",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcYellow",
+    "object": "CcYellow",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

actions/locomotion_primitives/P28/session_006/motions/objects.npz

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actions/locomotion_primitives/P28/session_006/motions/smplx.npz

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actions/locomotion_primitives/P28/session_007/meta.json

@@ -441,19 +441,19 @@
   "wrist_correction": {
    "left": {
     "status": "corrected",
-    "Q_deg": 156.57,
+    "Q_deg": 180.0,
     "Q_rotvec": [
-     -2.6668,
-     -0.03207,
-     0.59557
+     2.98163,
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+     -0.88585
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-    "opposite_sign_bend_deg": 58.4,
-    "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
+    "in_out_sign": 1,
+    "wrist_bend_deg_median": 174.9,
+    "opposite_sign_bend_deg": 34.2,
+    "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.65,
     "hand_vs_marker_frame_deg": {
-     "before": 156.62,
+     "before": 179.54,
      "after": 0.65
     },
     "markers_on_wrist": [
@@ -461,15 +461,15 @@
      "LHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": -129.03,
+     "twist_moved_deg": -174.79,
      "wrist_twist_deg_after": {
       "median": -0.0,
       "iqr": [
-       -1.0,
+       -0.9,
        0.7
       ]
      },
-     "wrist_total_deg_median_after": 34.3,
+     "wrist_total_deg_median_after": 17.1,
      "markers_on_forearm": [
       "LForearm",
       "LWristIn",
@@ -480,19 +480,19 @@
    },
    "right": {
     "status": "corrected",
-    "Q_deg": 26.0,
+    "Q_deg": 0.0,
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-     0.18144,
-     -0.34912
+     0.0,
+     -0.0,
+     0.0
     ],
     "in_out_sign": 1,
-    "wrist_bend_deg_median": 18.3,
-    "opposite_sign_bend_deg": 172.3,
+    "wrist_bend_deg_median": 18.0,
+    "opposite_sign_bend_deg": 175.8,
     "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
     "marker_frame_spread_deg": 0.58,
     "hand_vs_marker_frame_deg": {
-     "before": 26.16,
+     "before": 0.58,
      "after": 0.58
     },
     "markers_on_wrist": [
@@ -500,7 +500,7 @@
      "RHandOut"
     ],
     "forearm_twist": {
-     "twist_moved_deg": 3.66,
+     "twist_moved_deg": -0.0,
      "wrist_twist_deg_after": {
       "median": 0.0,
       "iqr": [
@@ -517,7 +517,7 @@
     },
     "frames_used": 1500
    },
-   "generated_at_utc": "2026-10-23T06:24:12.006620+00:00",
+   "generated_at_utc": "2026-10-28T06:43:02.636138+00:00",
    "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
   }
  },
@@ -526,5 +526,37 @@
   "family": "locomotion_primitives",
   "primitive": "P28",
   "source_session": "20261019/P28/20261019_103139_session80"
- }
+ },
+ "objects": [
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+   "name": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  },
+  {
+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcOrange",
+   "object_type": "CcOrange",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcRed1",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "mesh"
+  },
+  {
+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "source": "mocap",
+   "pose_frame": "rigid_body"
+  }
+ ]
 }

actions/locomotion_primitives/P28/session_007/motions/object_markers.npz

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actions/locomotion_primitives/P28/session_007/motions/objects.json

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+ "generated_at_utc": "2026-10-29T12:55:57.112593+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",
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+   "name": "CcGreen",
+   "object_type": "CcGreen",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcGreen/ccgreen.ply",
+   "calibration": {
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+    "rms_mm": 0.6
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+   "verified_pct": 99.99,
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+   "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": 0.66
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+   "valid_pct": 99.99,
+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
+   "vision_source": null
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+   "name": "CcRed1",
+   "object_type": "CcRed",
+   "source": "mocap",
+   "pose_frame": "mesh",
+   "mesh": "objects/CcRed/ccred.ply",
+   "calibration": {
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+    "rms_mm": 0.61
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+   "verified_pct": 99.99,
+   "moving_pct": 0.0,
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+   "name": "CcYellow",
+   "object_type": "CcYellow",
+   "source": "mocap",
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+   "calibration": null,
+   "valid_pct": 99.99,
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+ ],
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+  {
+   "name": "ArmlessChair",
+   "object_type": "ArmlessChair",
+   "valid_s": 0.0
+  }
+ ],
+ "object_list": {
+  "status": "corrected",
+  "notes": [],
+  "declared": [
+   "ArmlessChair0",
+   "CcGreen0",
+   "CcOrange0",
+   "CcRed1",
+   "CcYellow0"
+  ],
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+    "name": "ArmlessChair",
+    "object": "ArmlessChair",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "CcGreen",
+    "object": "CcGreen",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcOrange",
+    "object": "CcOrange",
+    "source": "mocap",
+    "needs_video_check": false
+   },
+   {
+    "name": "CcRed1",
+    "object": "CcRed",
+    "source": "mocap",
+    "needs_video_check": false
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+   {
+    "name": "CcYellow",
+    "object": "CcYellow",
+    "source": "mocap",
+    "needs_video_check": false
+   }
+  ]
+ },
+ "notes": []
+}

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