Release update 2026-11-05: new sessions, instructions, annotations (part 376)
Browse files- actions/locomanipulation/LM36/session_033/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_034/annotations.json +28 -0
- actions/locomanipulation/LM36/session_034/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM36/session_034/cameras/slam.npz +3 -0
- actions/locomanipulation/LM36/session_034/meta.json +116 -2
- actions/locomanipulation/LM36/session_034/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM36/session_034/motions/smplx.npz +2 -2
- actions/locomanipulation/LM36/session_035/cameras/poses.npz +3 -0
- actions/locomanipulation/LM36/session_035/meta.json +545 -0
- actions/locomanipulation/LM36/session_035/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM36/session_035/motions/markers.npz +3 -0
- actions/locomanipulation/LM36/session_035/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM36/session_035/motions/objects.json +55 -0
actions/locomanipulation/LM36/session_033/motions/smplx.npz
CHANGED
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size
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version https://git-lfs.github.com/spec/v1
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size 12094058
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actions/locomanipulation/LM36/session_034/annotations.json
ADDED
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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| 4 |
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
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"primitive": "LM36",
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| 6 |
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
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"segments": [
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{
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| 9 |
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"id": "segment1",
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"duration_s": 133.866644,
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"video": "left_eye",
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"video_t_start": 0.039136266203581974
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}
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],
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"episodes": [
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| 16 |
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{
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| 17 |
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"id": "ec3d9dfa-6113-4879-ac9c-f1eca5ae4338",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM36",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 0,
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"end_s": 128.711,
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"t_start": 0.0391,
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"t_end": 128.7501,
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"instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
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| 26 |
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}
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| 27 |
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]
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| 28 |
+
}
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actions/locomanipulation/LM36/session_034/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,257 @@
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| 1 |
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{
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],
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@@ -493,12 +493,126 @@
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|
| 613 |
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|
| 614 |
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| 615 |
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},
|
| 616 |
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|
| 617 |
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|
| 618 |
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ADDED
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ADDED
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM36/20261028_112152_session121",
|
| 4 |
+
"session_id": "20261028_112152_session121",
|
| 5 |
+
"primitive": "LM36",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:24:26.013109+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 158.35833333333332,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.09306,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.987,
|
| 32 |
+
"reference_imu_first_sample_s": 38209.742675128,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9940958717307471,
|
| 36 |
+
"drift_ppm": -321.0226873592422,
|
| 37 |
+
"drift_se_ppm": 179.41207281625273,
|
| 38 |
+
"drift_ms_over_take": -50.833942543336,
|
| 39 |
+
"lag_scatter_ms": 25.05353251556306,
|
| 40 |
+
"lag_range_ms": 110.44344258274886
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 31965,
|
| 76 |
+
"n_gyro": 31959,
|
| 77 |
+
"t_start": -0.1000063822750021,
|
| 78 |
+
"t_end": 158.55478495671997
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 31809,
|
| 82 |
+
"n_gyro": 31803,
|
| 83 |
+
"t_start": 0.005427325723597762,
|
| 84 |
+
"t_end": 158.7197004507223
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 32029,
|
| 88 |
+
"n_gyro": 32029,
|
| 89 |
+
"t_start": -0.850761943281374,
|
| 90 |
+
"t_end": 157.02173736771948
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 31841,
|
| 94 |
+
"n_gyro": 31854,
|
| 95 |
+
"t_start": -0.7741226212776169,
|
| 96 |
+
"t_end": 157.020968133719
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 15881,
|
| 100 |
+
"t_start": 0.08471632572475167,
|
| 101 |
+
"t_end": 158.88470981872234
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 15786,
|
| 105 |
+
"t_start": -0.8328620812782688,
|
| 106 |
+
"t_end": 157.0171984977249
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 15778,
|
| 110 |
+
"t_start": -0.7573029492806895,
|
| 111 |
+
"t_end": 157.01275058472385
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 38209.873131,
|
| 118 |
+
"frames": 4750,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03995096716682704,
|
| 124 |
+
"t_end": 158.33999496717007,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 38209.873102,
|
| 131 |
+
"frames": 4750,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039734201793929544,
|
| 137 |
+
"t_end": 158.33976720179345,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 38209.873122,
|
| 144 |
+
"frames": 4750,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.04006018693037143,
|
| 150 |
+
"t_end": 158.3400931869299,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 38209.873139,
|
| 157 |
+
"frames": 4750,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03999991021994313,
|
| 163 |
+
"t_end": 158.34005591021997,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 38209.873114,
|
| 170 |
+
"frames": 4661,
|
| 171 |
+
"pts_gaps": 82,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": -3.3,
|
| 177 |
+
"corr": 0.832,
|
| 178 |
+
"err_ms": 5.7
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 145.2,
|
| 182 |
+
"corr": 0.829,
|
| 183 |
+
"err_ms": 142.8
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.03977370181821564,
|
| 188 |
+
"t_end": 158.35634070181987,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 38209.873086,
|
| 195 |
+
"frames": 4750,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": 0.002315656053021164,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.039666971778227464,
|
| 201 |
+
"t_end": 158.3396889717813,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 38209.058208,
|
| 208 |
+
"frames": 4733,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.7775266842756323,
|
| 214 |
+
"t_end": 156.95587131572103,
|
| 215 |
+
"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 38208.981594,
|
| 221 |
+
"frames": 4736,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
+
"timeshift_cam_imu_s": null,
|
| 225 |
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|
| 13 |
+
"pose_frame": "mesh",
|
| 14 |
+
"mesh": "objects/LittleBox/littlebox.ply",
|
| 15 |
+
"calibration": {
|
| 16 |
+
"instance": "LittleBox6",
|
| 17 |
+
"rms_mm": 1.51
|
| 18 |
+
},
|
| 19 |
+
"valid_pct": 99.99,
|
| 20 |
+
"verified_pct": 99.99,
|
| 21 |
+
"moving_pct": 97.04,
|
| 22 |
+
"vision_source": null
|
| 23 |
+
}
|
| 24 |
+
],
|
| 25 |
+
"absent": [
|
| 26 |
+
{
|
| 27 |
+
"name": "LittleBox5",
|
| 28 |
+
"object_type": "LittleBox",
|
| 29 |
+
"valid_s": 0.0
|
| 30 |
+
}
|
| 31 |
+
],
|
| 32 |
+
"object_list": {
|
| 33 |
+
"status": "match",
|
| 34 |
+
"notes": [],
|
| 35 |
+
"declared": [
|
| 36 |
+
"LittleBox5",
|
| 37 |
+
"LittleBox6"
|
| 38 |
+
],
|
| 39 |
+
"listed": [
|
| 40 |
+
{
|
| 41 |
+
"name": "LittleBox5",
|
| 42 |
+
"object": "LittleBox",
|
| 43 |
+
"source": "mocap",
|
| 44 |
+
"needs_video_check": false
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"name": "LittleBox6",
|
| 48 |
+
"object": "LittleBox",
|
| 49 |
+
"source": "mocap",
|
| 50 |
+
"needs_video_check": false
|
| 51 |
+
}
|
| 52 |
+
]
|
| 53 |
+
},
|
| 54 |
+
"notes": []
|
| 55 |
+
}
|