Mayur1092 commited on
Commit
f2b2845
·
verified ·
1 Parent(s): 84aa3fb

Release update 2026-11-05: new sessions, instructions, annotations (part 376)

Browse files
actions/locomanipulation/LM36/session_033/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:39fcb75ee14e7386eaf2150f644e4148bbd09c0d0593190caa4dc31c91608181
3
- size 6537886
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0a2894e3d9eaf6a79087835184e502d6b6892012b6a6df3b94491cb5bb360ce
3
+ size 12094058
actions/locomanipulation/LM36/session_034/annotations.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "source": "vendor annotation.json (schema 2, revision 1)",
4
+ "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",
5
+ "primitive": "LM36",
6
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 133.866644,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.039136266203581974
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "ec3d9dfa-6113-4879-ac9c-f1eca5ae4338",
18
+ "segment": "segment1",
19
+ "action": "LM36",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 128.711,
23
+ "t_start": 0.0391,
24
+ "t_end": 128.7501,
25
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM36/session_034/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,257 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.35
6
+ },
7
+ "cameras": {
8
+ "left": {
9
+ "accepted": true,
10
+ "against": [
11
+ "left_front",
12
+ "right_front",
13
+ "left_eye",
14
+ "right_eye"
15
+ ],
16
+ "delta_deg": 1.6893,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.419,
19
+ "held_out_px_before": 19.092,
20
+ "inliers": 1729,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ -1.1581,
24
+ -0.1442,
25
+ -1.2213
26
+ ],
27
+ "split_deg": 0.0515,
28
+ "usable": true
29
+ },
30
+ "left_eye": {
31
+ "accepted": true,
32
+ "against": [
33
+ "left_front",
34
+ "right_front",
35
+ "right_eye",
36
+ "left",
37
+ "right"
38
+ ],
39
+ "delta_deg": 2.3511,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.42,
42
+ "held_out_px_before": 10.282,
43
+ "inliers": 2824,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 2.09,
47
+ -26.61,
48
+ -1.19
49
+ ],
50
+ "position_sigma_mm": 0.101,
51
+ "position_split_mm": 0.361,
52
+ "rotvec_deg": [
53
+ 1.7098,
54
+ -0.824,
55
+ 1.3874
56
+ ],
57
+ "split_deg": 0.066,
58
+ "usable": true
59
+ },
60
+ "left_front": {
61
+ "role": "rig origin"
62
+ },
63
+ "right": {
64
+ "accepted": true,
65
+ "against": [
66
+ "left_front",
67
+ "right_front",
68
+ "left_eye",
69
+ "right_eye"
70
+ ],
71
+ "delta_deg": 3.05,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.576,
74
+ "held_out_px_before": 11.74,
75
+ "inliers": 1045,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.2213,
79
+ -0.949,
80
+ 2.6287
81
+ ],
82
+ "split_deg": 0.08,
83
+ "usable": true
84
+ },
85
+ "right_eye": {
86
+ "accepted": true,
87
+ "against": [
88
+ "left_front",
89
+ "right_front",
90
+ "left_eye",
91
+ "left",
92
+ "right"
93
+ ],
94
+ "delta_deg": 2.8217,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.362,
97
+ "held_out_px_before": 4.47,
98
+ "inliers": 2958,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ -0.01,
102
+ -24.64,
103
+ 0.33
104
+ ],
105
+ "position_sigma_mm": 0.095,
106
+ "position_split_mm": 0.313,
107
+ "rotvec_deg": [
108
+ 1.6535,
109
+ -1.3993,
110
+ 1.8082
111
+ ],
112
+ "split_deg": 0.0091,
113
+ "usable": true
114
+ },
115
+ "right_front": {
116
+ "accepted": true,
117
+ "against": [
118
+ "left_front",
119
+ "left_eye",
120
+ "right_eye",
121
+ "left",
122
+ "right"
123
+ ],
124
+ "delta_deg": 0.599,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.323,
127
+ "held_out_px_before": 2.605,
128
+ "inliers": 3714,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ 0.1898,
132
+ -0.4751,
133
+ -0.3115
134
+ ],
135
+ "split_deg": 0.0239,
136
+ "usable": true
137
+ }
138
+ },
139
+ "code_fingerprint": "711ecf5b3dd408f8",
140
+ "device_id": "c9205ac6e17d2d5c",
141
+ "factory_root_name": "c9205ac6e17d2d5c",
142
+ "files": {
143
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
144
+ "sha256": "1a7e8b0e6ccc5f9f173b1ebdb770e07d946a3cee6244ad48c2fea7db9569dbcd",
145
+ "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "6313d6ed341c6c923b84abbb7c1b015acd75b649aeca98b5c1bd97350517e80c",
149
+ "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "df1a5a381da2a220ab45afe700665f0b80e7e0ca543b6ed48f74bd5d1a18b938",
153
+ "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "d56f41296094d2e3016fdd8f229e827a01807203e330a29fdcaf10df8e6075b2",
157
+ "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
158
+ }
159
+ },
160
+ "input_fingerprint": "e2cd60d0c2505ecd",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "2a13bc95bf416e090b9a04f6e7d7a6587d01efa8d04dd06ebc3cec9414a742eb",
163
+ "overlap": {
164
+ "left-right": 0.5,
165
+ "left_eye-left": 0.695,
166
+ "left_eye-right": 0.702,
167
+ "left_front-left": 0.506,
168
+ "left_front-left_eye": 0.692,
169
+ "left_front-right": 0.458,
170
+ "left_front-right_eye": 0.698,
171
+ "left_front-right_front": 1.0,
172
+ "right_eye-left": 0.699,
173
+ "right_eye-left_eye": 1.0,
174
+ "right_eye-right": 0.706,
175
+ "right_front-left": 0.49,
176
+ "right_front-left_eye": 0.697,
177
+ "right_front-right": 0.464,
178
+ "right_front-right_eye": 0.704
179
+ },
180
+ "picture_change": {
181
+ "left": 35.745,
182
+ "left_eye": 37.864,
183
+ "left_front": 48.983,
184
+ "right": 35.324,
185
+ "right_eye": 39.367,
186
+ "right_front": 48.105
187
+ },
188
+ "runtime": {
189
+ "numpy": "2.4.6",
190
+ "opencv": "5.0.0",
191
+ "scipy": "1.17.1"
192
+ },
193
+ "segment": 1,
194
+ "selection": {
195
+ "overlap_captures": [
196
+ 1410260609666,
197
+ 1411260609666,
198
+ 1414260609666,
199
+ 1415260598555,
200
+ 1416260609666,
201
+ 1420260609666,
202
+ 1421260609666,
203
+ 1424260631888,
204
+ 1425260631888,
205
+ 1432260631888,
206
+ 1433260609666,
207
+ 1434260676333,
208
+ 1439260620777,
209
+ 1440260743000,
210
+ 1444260598555,
211
+ 1445260631888,
212
+ 1449260598555,
213
+ 1450260631888,
214
+ 1453260676333,
215
+ 1454260687444,
216
+ 1455260743000,
217
+ 1456260620777,
218
+ 1459260598555,
219
+ 1460260620777,
220
+ 1464260620777,
221
+ 1465260598555,
222
+ 1469260687444,
223
+ 1470260631888,
224
+ 1475260620777,
225
+ 1476260598555,
226
+ 1480260643000,
227
+ 1481260743000,
228
+ 1482260631888,
229
+ 1483260620777,
230
+ 1485260631888,
231
+ 1486260676333,
232
+ 1490260620777,
233
+ 1491260676333,
234
+ 1494260598555,
235
+ 1495260631888,
236
+ 1501260598555,
237
+ 1502260620777,
238
+ 1503260631888,
239
+ 1504260631888,
240
+ 1509260631888,
241
+ 1510260687444,
242
+ 1511260609666,
243
+ 1512260609666,
244
+ 1517260598555,
245
+ 1518260620777,
246
+ 1520260609666,
247
+ 1521260631888,
248
+ 1527260620777,
249
+ 1528260620777,
250
+ 1530260598555,
251
+ 1531260665222,
252
+ 1535260620777,
253
+ 1536260631888
254
+ ]
255
+ },
256
+ "version": 1
257
+ }
actions/locomanipulation/LM36/session_034/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:94b71eda161c7852c42bafc2f5a57d1792e970a9c19e8867179e9796fb7ddb70
3
+ size 768812
actions/locomanipulation/LM36/session_034/meta.json CHANGED
@@ -353,8 +353,8 @@
353
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
354
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
355
  "hands": {
356
- "observed": false,
357
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
358
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
359
  "hand_marker_offsets_m": {
360
  "left": {
@@ -493,12 +493,126 @@
493
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
494
  }
495
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
496
  "release": {
497
  "release_path": "actions/locomanipulation/LM36/session_034",
498
  "family": "locomanipulation",
499
  "primitive": "LM36",
500
  "source_session": "20261021/LM36/20261021_091840_session4"
501
  },
 
 
 
 
502
  "objects": [
503
  {
504
  "name": "LittleBox5",
 
353
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
354
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
355
  "hands": {
356
+ "observed": true,
357
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
358
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
359
  "hand_marker_offsets_m": {
360
  "left": {
 
493
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
494
  }
495
  },
496
+ "hands_registration": {
497
+ "cameras": {},
498
+ "hands": {
499
+ "left": {
500
+ "offset_deg": 59.27,
501
+ "offset_rotvec": [
502
+ 0.8631,
503
+ -0.5086,
504
+ 0.2582
505
+ ],
506
+ "dev_deg": {
507
+ "median": 13.12,
508
+ "p90": 29.78
509
+ },
510
+ "samples": 3868,
511
+ "accepted": 3493,
512
+ "wrist_pos_err_mm_median": 32.8,
513
+ "per_camera": {
514
+ "head": {
515
+ "samples": 3868,
516
+ "accepted": 3493,
517
+ "gate_deg": 30.0,
518
+ "offset_deg": 59.27,
519
+ "tier": "primary",
520
+ "dev_deg_median": 13.12,
521
+ "wrist_pos_err_mm_median": 32.8
522
+ }
523
+ },
524
+ "frames_by_state": {
525
+ "ace_sample": 14076,
526
+ "interpolated": 1344,
527
+ "mean_hand": 652,
528
+ "no_body_fit": 0
529
+ },
530
+ "observed_fraction": 0.9594,
531
+ "observed_fraction_of_valid": 0.9594,
532
+ "palm_axis_vs_markers_deg": {
533
+ "gsi": 53.63,
534
+ "smplx": 1.16
535
+ },
536
+ "hand_marker_to_mesh_mm": {
537
+ "flat": {
538
+ "median": 6.4,
539
+ "p90": 7.9
540
+ },
541
+ "registered": {
542
+ "median": 5.3,
543
+ "p90": 6.8
544
+ }
545
+ }
546
+ },
547
+ "right": {
548
+ "offset_deg": 29.27,
549
+ "offset_rotvec": [
550
+ 0.4718,
551
+ 0.1913,
552
+ -0.0423
553
+ ],
554
+ "dev_deg": {
555
+ "median": 10.04,
556
+ "p90": 24.93
557
+ },
558
+ "samples": 3818,
559
+ "accepted": 3622,
560
+ "wrist_pos_err_mm_median": 56.1,
561
+ "per_camera": {
562
+ "head": {
563
+ "samples": 3818,
564
+ "accepted": 3622,
565
+ "gate_deg": 30.0,
566
+ "offset_deg": 29.27,
567
+ "tier": "primary",
568
+ "dev_deg_median": 10.04,
569
+ "wrist_pos_err_mm_median": 56.1
570
+ }
571
+ },
572
+ "frames_by_state": {
573
+ "ace_sample": 14636,
574
+ "interpolated": 1396,
575
+ "mean_hand": 40,
576
+ "no_body_fit": 0
577
+ },
578
+ "observed_fraction": 0.9975,
579
+ "observed_fraction_of_valid": 0.9975,
580
+ "palm_axis_vs_markers_deg": {
581
+ "gsi": 28.3,
582
+ "smplx": 1.17
583
+ },
584
+ "hand_marker_to_mesh_mm": {
585
+ "flat": {
586
+ "median": 7.5,
587
+ "p90": 8.3
588
+ },
589
+ "registered": {
590
+ "median": 5.0,
591
+ "p90": 6.7
592
+ }
593
+ }
594
+ }
595
+ },
596
+ "max_dev_deg": 30.0,
597
+ "max_gap_s": 1.0,
598
+ "cameras_used": [
599
+ "head"
600
+ ],
601
+ "generated_at_utc": "2026-11-03T19:29:35.043577+00:00",
602
+ "generated_by": "scripts/register_hands_smplx.py",
603
+ "conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
604
+ "wrist_flip_suspect": []
605
+ },
606
  "release": {
607
  "release_path": "actions/locomanipulation/LM36/session_034",
608
  "family": "locomanipulation",
609
  "primitive": "LM36",
610
  "source_session": "20261021/LM36/20261021_091840_session4"
611
  },
612
+ "task": {
613
+ "primitive": "LM36",
614
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
615
+ },
616
  "objects": [
617
  {
618
  "name": "LittleBox5",
actions/locomanipulation/LM36/session_034/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:421d23c98ba4640be0009fc1a4f2f9563e7aa1082ece9dd2d1b6254b8fe71844
3
+ size 5198484
actions/locomanipulation/LM36/session_034/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:cdbad4b0b2863d46bdf3b63407fb161309c10ad3c6b5c78b467e4a4430740008
3
- size 6162250
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8d9c45d59b23929930a153cf63217b838d16ea34a5a2f45c934083976ed7e03
3
+ size 11476641
actions/locomanipulation/LM36/session_035/cameras/poses.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c5617c8ced394f0385eb3837498532b358e928df059eb081eb741443b46c6ece
3
+ size 1372425
actions/locomanipulation/LM36/session_035/meta.json ADDED
@@ -0,0 +1,545 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
226
+ "t_start": -0.8541406842806978,
227
+ "t_end": 156.97925731572178,
228
+ "clock": "device",
229
+ "calibrated": false
230
+ },
231
+ "third_person": {
232
+ "file": "mocap/mocap-LM36-S02-xiaobo-01p2-1.mp4",
233
+ "frames": 4751,
234
+ "fps": 30.0,
235
+ "clock": "nokov (frame index)",
236
+ "t_start": 0.0,
237
+ "t_end": 158.33333333333334
238
+ }
239
+ }
240
+ },
241
+ "flags": [],
242
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
243
+ "rig_tracker": {
244
+ "definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-0535c3fa6f0e1f2d",
245
+ "R_tracker0_imu0": [
246
+ [
247
+ -0.68262083,
248
+ 0.31564445,
249
+ -0.65908829
250
+ ],
251
+ [
252
+ 0.73020883,
253
+ 0.33004338,
254
+ -0.59821939
255
+ ],
256
+ [
257
+ 0.0287031,
258
+ -0.88962911,
259
+ -0.45578085
260
+ ]
261
+ ],
262
+ "p_tracker0_imu0_m": [
263
+ -0.1655441808504526,
264
+ -0.005301048616030681,
265
+ -0.05244247955023496
266
+ ],
267
+ "rig_check": {
268
+ "gyro_samples": 1908,
269
+ "gyro_max_deg": 2.5,
270
+ "status": "gyro_rotation",
271
+ "dropped_marker": null,
272
+ "gyro_deg": 0.0,
273
+ "video_solve": {
274
+ "status": "ok",
275
+ "reason": "",
276
+ "reprojection_px": 3.007,
277
+ "n_assoc": 230,
278
+ "gyro_deg": 4.011
279
+ }
280
+ },
281
+ "file": "derived/rig_tracker_provider/rig_tracker.json",
282
+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
283
+ },
284
+ "canonical": {
285
+ "generated_at_utc": "2026-10-30T18:46:25.400200+00:00",
286
+ "generated_by": "scripts/canonicalise_dataset.py",
287
+ "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
288
+ "R_canon_nokov": [
289
+ [
290
+ 0.9999849425,
291
+ 0.0054876377,
292
+ 2.47109e-05
293
+ ],
294
+ [
295
+ -2.47109e-05,
296
+ 0.0090057756,
297
+ -0.9999594469
298
+ ],
299
+ [
300
+ -0.0054876377,
301
+ 0.9999443894,
302
+ 0.0090057756
303
+ ]
304
+ ],
305
+ "scale_nokov_to_canon": 0.001,
306
+ "T_canon_nokov_mm": [
307
+ [
308
+ 0.000999984942,
309
+ 5.487638e-06,
310
+ 2.4711e-08,
311
+ 0.0
312
+ ],
313
+ [
314
+ -2.4711e-08,
315
+ 9.005776e-06,
316
+ -0.000999959447,
317
+ 0.0
318
+ ],
319
+ [
320
+ -5.487638e-06,
321
+ 0.000999944389,
322
+ 9.005776e-06,
323
+ 0.0
324
+ ],
325
+ [
326
+ 0.0,
327
+ 0.0,
328
+ 0.0,
329
+ 1.0
330
+ ]
331
+ ],
332
+ "block": "20261028-afternoon",
333
+ "block_assignment": "trc",
334
+ "tilt_removed_deg": 0.6042526163605274,
335
+ "plane_status": "ok",
336
+ "floor": {
337
+ "sole_marker_p1_mm": 39.7,
338
+ "headtop_p95_mm": 1708.4
339
+ },
340
+ "gravity_check": {
341
+ "static_samples": 2449,
342
+ "g_world_mean_m_s2": [
343
+ 0.0718,
344
+ -0.0275,
345
+ 9.7351
346
+ ],
347
+ "tilt_from_z_deg": 0.453,
348
+ "tilt_from_z_deg_before_levelling": 0.686,
349
+ "magnitude_m_s2": 9.7354
350
+ },
351
+ "rig_tracker_definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-0535c3fa6f0e1f2d",
352
+ "rig_check": {
353
+ "status": "gyro_rotation",
354
+ "dropped_marker": null,
355
+ "gyro_deg": 0.0
356
+ },
357
+ "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
358
+ "files": [
359
+ "mocap_zup.npz",
360
+ "tracker0_zup.npz",
361
+ "rig_zup.npz",
362
+ "cameras_zup.npz"
363
+ ]
364
+ },
365
+ "smplx": {
366
+ "generated_at_utc": "2026-11-02T15:52:54.054844+00:00",
367
+ "generated_by": "scripts/fit_smplx_dataset.py",
368
+ "file": "smplx.npz",
369
+ "gender": "male",
370
+ "n_betas": 16,
371
+ "betas_source": "participant median (derived/smplx/participants.json)",
372
+ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
373
+ "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
374
+ "hands": {
375
+ "observed": false,
376
+ "hand_pose": "flat (zeros, flat_hand_mean=True)",
377
+ "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
378
+ "hand_marker_offsets_m": {
379
+ "left": {
380
+ "LHandIn": [
381
+ 0.0722322165966034,
382
+ 0.03426007553935051,
383
+ 0.004000970162451267
384
+ ],
385
+ "LHandOut": [
386
+ 0.06774403154850006,
387
+ 0.017345774918794632,
388
+ -0.03182889521121979
389
+ ],
390
+ "LWristIn": [
391
+ -0.008981003426015377,
392
+ 0.013700941577553749,
393
+ 0.021662220358848572
394
+ ],
395
+ "LWristOut": [
396
+ 0.001970677636563778,
397
+ 0.005562522914260626,
398
+ -0.022495143115520477
399
+ ]
400
+ },
401
+ "right": {
402
+ "RHandIn": [
403
+ -0.04116751626133919,
404
+ 0.00688013294711709,
405
+ 0.04379572719335556
406
+ ],
407
+ "RHandOut": [
408
+ -0.04344452917575836,
409
+ 0.03668362274765968,
410
+ 0.003603234188631177
411
+ ]
412
+ }
413
+ }
414
+ },
415
+ "marker_rmse_mm": {
416
+ "median_frame": 5.71,
417
+ "p95_frame": 10.01
418
+ },
419
+ "worst_markers": [
420
+ "RKneeIn 31mm",
421
+ "RThigh 30mm",
422
+ "LShin 7mm",
423
+ "LThigh 7mm",
424
+ "LKneeIn 7mm"
425
+ ],
426
+ "valid_fraction": 0.9889,
427
+ "qc": {
428
+ "lowest_vertex_mm": {
429
+ "median": 3.1,
430
+ "p5": -3.0
431
+ },
432
+ "frames_checked": 627,
433
+ "stature_mm": 1700.1
434
+ },
435
+ "surface_term": {
436
+ "weight": 1.0,
437
+ "marker_height_mm": 11.0,
438
+ "markers_on_surface": 52,
439
+ "surface_rmse_mm_median": 12.12
440
+ },
441
+ "shape_source": "participant median",
442
+ "wrist_correction": {
443
+ "left": {
444
+ "status": "corrected",
445
+ "Q_deg": 25.62,
446
+ "Q_rotvec": [
447
+ -0.27171,
448
+ -0.06181,
449
+ 0.34977
450
+ ],
451
+ "in_out_sign": 1,
452
+ "wrist_bend_deg_median": 63.3,
453
+ "opposite_sign_bend_deg": 117.7,
454
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
455
+ "marker_frame_spread_deg": 0.72,
456
+ "hand_vs_marker_frame_deg": {
457
+ "before": 25.69,
458
+ "after": 0.72
459
+ },
460
+ "markers_on_wrist": [
461
+ "LWristIn",
462
+ "LWristOut",
463
+ "LHandIn",
464
+ "LHandOut"
465
+ ],
466
+ "forearm_twist": {
467
+ "twist_moved_deg": -58.41,
468
+ "wrist_twist_deg_after": {
469
+ "median": 0.0,
470
+ "iqr": [
471
+ -0.9,
472
+ 0.8
473
+ ]
474
+ },
475
+ "wrist_total_deg_median_after": 25.9,
476
+ "markers_on_forearm": [
477
+ "LElbowIn",
478
+ "LForearm"
479
+ ]
480
+ },
481
+ "frames_used": 1500
482
+ },
483
+ "right": {
484
+ "status": "corrected",
485
+ "Q_deg": 47.76,
486
+ "Q_rotvec": [
487
+ 0.72094,
488
+ 0.37877,
489
+ -0.17789
490
+ ],
491
+ "in_out_sign": 1,
492
+ "wrist_bend_deg_median": 97.8,
493
+ "opposite_sign_bend_deg": 95.2,
494
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
495
+ "marker_frame_spread_deg": 0.54,
496
+ "hand_vs_marker_frame_deg": {
497
+ "before": 47.72,
498
+ "after": 0.54
499
+ },
500
+ "markers_on_wrist": [
501
+ "RHandIn",
502
+ "RHandOut"
503
+ ],
504
+ "forearm_twist": {
505
+ "twist_moved_deg": -93.83,
506
+ "wrist_twist_deg_after": {
507
+ "median": 0.0,
508
+ "iqr": [
509
+ -0.7,
510
+ 1.1
511
+ ]
512
+ },
513
+ "wrist_total_deg_median_after": 31.7,
514
+ "markers_on_forearm": [
515
+ "RElbowIn",
516
+ "RForearm",
517
+ "RWristIn",
518
+ "RWristOut"
519
+ ]
520
+ },
521
+ "frames_used": 1500
522
+ },
523
+ "generated_at_utc": "2026-11-02T15:52:57.270093+00:00",
524
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
525
+ }
526
+ },
527
+ "release": {
528
+ "release_path": "actions/locomanipulation/LM36/session_035",
529
+ "family": "locomanipulation",
530
+ "primitive": "LM36",
531
+ "source_session": "20261028/LM36/20261028_112152_session121"
532
+ },
533
+ "task": {
534
+ "primitive": "LM36",
535
+ "instruction": "Carry the open tray of loose items across the room, back and forth, trying not to let anything fall out."
536
+ },
537
+ "objects": [
538
+ {
539
+ "name": "LittleBox6",
540
+ "object_type": "LittleBox",
541
+ "source": "mocap",
542
+ "pose_frame": "mesh"
543
+ }
544
+ ]
545
+ }
actions/locomanipulation/LM36/session_035/motions/head_rig.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:50cc4fd9068a88e91a4be1f88fac679411cf9be7651dfdfdb7f895b46faebb8c
3
+ size 1406885
actions/locomanipulation/LM36/session_035/motions/markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:99fb64272ea9abc691b0a97eaad0d092a77c22afbf1f8b3ec2bbcf967e2171ef
3
+ size 10915573
actions/locomanipulation/LM36/session_035/motions/object_markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1219d7d484d90859a593be1dab9acb3e70e3e3f220357e7bc3db846033b9bc57
3
+ size 875362
actions/locomanipulation/LM36/session_035/motions/objects.json ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "session": "20261028/LM36/20261028_112152_session121",
3
+ "generated_at_utc": "2026-11-04T20:13:50.090213+00:00",
4
+ "generated_by": "scripts/export_objects.py",
5
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
6
+ "grid": "body grid (smplx.npz t / frame_index)",
7
+ "held_by": "from mocap hands",
8
+ "instances": [
9
+ {
10
+ "name": "LittleBox6",
11
+ "object_type": "LittleBox",
12
+ "source": "mocap",
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
+ }