Release update 2026-11-05: 5760 sessions, instructions, annotations (part 285)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +19 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Body0.trc +3 -0
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- actions/locomanipulation/LM07/session_029/raw/mocap/LittleBox3.csv +0 -0
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- actions/locomanipulation/LM07/session_029/raw/mocap/LittleBox4.csv +0 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/LittleBox4.trc +0 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Lowstep.csv +0 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Lowstep.trc +0 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Table.csv +0 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Table.trc +0 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM07/session_029/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM07/session_029/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM07/session_029/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM07/session_029/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM07/session_029/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM07/session_029/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM07/session_029/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM07/session_029/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM07/session_029/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM07/session_029/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM07/session_029/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM07/session_029/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM07/session_029/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM07/session_029/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM07/session_029/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM07/session_030/cameras/poses.npz +3 -0
- actions/locomanipulation/LM07/session_030/meta.json +648 -0
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- actions/locomanipulation/LM07/session_030/motions/objects.npz +3 -0
- actions/locomanipulation/LM07/session_030/motions/skeleton.npz +3 -0
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- actions/locomanipulation/LM07/session_030/raw/mocap/Body0.bvh +3 -0
.gitattributes
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| 1 |
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e8672a5c912cba3135106ef1364a7435b3e9863945594d47c89050aa1360dd45
|
| 3 |
+
size 43572757
|
actions/locomanipulation/LM07/session_030/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:b8c463a2766e1c56e68e952bb079241e1b6a07d1e2e918dd1eb88c563e0bd4f0
|
| 3 |
+
size 1351649
|
actions/locomanipulation/LM07/session_030/meta.json
ADDED
|
@@ -0,0 +1,648 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/LM07/20261031_035339_session41",
|
| 4 |
+
"session_id": "20261031_035339_session41",
|
| 5 |
+
"primitive": "LM07",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:51:08.646640+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": 155.39166666666668,
|
| 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": -0.086389,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9935,
|
| 32 |
+
"reference_imu_first_sample_s": 10421.423843873,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9955857384198566,
|
| 36 |
+
"drift_ppm": -1.309411566182766,
|
| 37 |
+
"drift_se_ppm": 5.317377852210369,
|
| 38 |
+
"drift_ms_over_take": -0.2034607338586988,
|
| 39 |
+
"lag_scatter_ms": 0.7425314073168614,
|
| 40 |
+
"lag_range_ms": 2.5615810623699775
|
| 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": 31364,
|
| 76 |
+
"n_gyro": 31359,
|
| 77 |
+
"t_start": -0.09790451878605595,
|
| 78 |
+
"t_end": 155.57466362121423
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 31210,
|
| 82 |
+
"n_gyro": 31204,
|
| 83 |
+
"t_start": 0.017146520213753,
|
| 84 |
+
"t_end": 155.7425913892138
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
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|
| 465 |
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|
| 466 |
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"hand_vs_marker_frame_deg": {
|
| 467 |
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"before": 21.3,
|
| 468 |
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"after": 2.8
|
| 469 |
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|
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|
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"LWristIn",
|
| 472 |
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"LWristOut",
|
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"LHandIn",
|
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"LHandOut"
|
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|
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|
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|
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|
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|
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|
| 481 |
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-4.2,
|
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2.1
|
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|
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|
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|
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|
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"LElbowIn",
|
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|
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|
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|
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0.55315,
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|
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|
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|
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|
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|
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|
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|
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6.3
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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}
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"generated_at_utc": "2026-11-03T14:23:34.635417+00:00",
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"generated_by": "scripts/relabel_marker_swaps.py",
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},
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"release": {
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"release_path": "actions/locomanipulation/LM07/session_030",
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"task": {
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"primitive": "LM07",
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"instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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"objects": [
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{
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"name": "LittleBox1",
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},
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{
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"name": "Table",
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"object_type": "Table",
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}
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"grid": "body grid (smplx.npz t / frame_index)",
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"held_by": "from mocap hands",
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{
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},
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{
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"object_type": "LittleBox",
|
| 24 |
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"source": "mocap",
|
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 27 |
+
"calibration": {
|
| 28 |
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"instance": "LittleBox2",
|
| 29 |
+
"rms_mm": 0.46
|
| 30 |
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},
|
| 31 |
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"valid_pct": 32.26,
|
| 32 |
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"verified_pct": 32.26,
|
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"moving_pct": 0.89,
|
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"vision_source": null
|
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},
|
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{
|
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"name": "LittleBox3",
|
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"object_type": "LittleBox",
|
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"source": "mocap",
|
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
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"instance": "LittleBox3",
|
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"rms_mm": 0.44
|
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},
|
| 46 |
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"valid_pct": 70.9,
|
| 47 |
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|
| 48 |
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|
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"vision_source": null
|
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},
|
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{
|
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|
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"object_type": "LittleBox",
|
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"source": "mocap",
|
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
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"instance": "LittleBox4",
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|
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},
|
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|
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|
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|
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|
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},
|
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{
|
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|
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}
|
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],
|
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"absent": [
|
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{
|
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"name": "LowStep",
|
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"object_type": "LowStep",
|
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|
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}
|
| 85 |
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],
|
| 86 |
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"object_list": {
|
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"status": "corrected",
|
| 88 |
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|
| 89 |
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"Lowstep -> LowStep"
|
| 90 |
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],
|
| 91 |
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"declared": [
|
| 92 |
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"LittleBox1",
|
| 93 |
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|
| 94 |
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"LittleBox3",
|
| 95 |
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"LittleBox4",
|
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"LowStep0",
|
| 97 |
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|
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],
|
| 99 |
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"listed": [
|
| 100 |
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{
|
| 101 |
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"name": "LittleBox1",
|
| 102 |
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"object": "LittleBox",
|
| 103 |
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"source": "mocap",
|
| 104 |
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"needs_video_check": false
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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|
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"object": "LittleBox",
|
| 109 |
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"source": "mocap",
|
| 110 |
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|
| 111 |
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|
| 112 |
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{
|
| 113 |
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"name": "LittleBox3",
|
| 114 |
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"object": "LittleBox",
|
| 115 |
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|
| 116 |
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|
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|
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{
|
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|
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"object": "LittleBox",
|
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|
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|
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|
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{
|
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|
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|
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|
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actions/locomanipulation/LM07/session_030/raw/mocap/Body0.bvh
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version https://git-lfs.github.com/spec/v1
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oid sha256:51a528928582cba0b5e5522a6b0ce6c13c2a3f36adcb0dec6975992bee5641a2
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size 11184187
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