Release update 2026-11-05: new sessions, instructions, annotations (part 6)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/LM78/20261031_044821_session54",
|
| 4 |
+
"session_id": "20261031_044821_session54",
|
| 5 |
+
"primitive": "LM78",
|
| 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": "2026-11-03T05:54:19.465685+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": 152.15833333333333,
|
| 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": -0.071622,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.07,
|
| 31 |
+
"peak_corr": 0.9953,
|
| 32 |
+
"reference_imu_first_sample_s": 13703.261800562,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9947848710557099,
|
| 36 |
+
"drift_ppm": 0.974017569518075,
|
| 37 |
+
"drift_se_ppm": 2.5184025487043407,
|
| 38 |
+
"drift_ms_over_take": 0.1481967732021751,
|
| 39 |
+
"lag_scatter_ms": 0.3516757771694692,
|
| 40 |
+
"lag_range_ms": 1.378442295054072
|
| 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": 30716,
|
| 76 |
+
"n_gyro": 30709,
|
| 77 |
+
"t_start": -0.08813782798697249,
|
| 78 |
+
"t_end": 152.36541871501268
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 30565,
|
| 82 |
+
"n_gyro": 30560,
|
| 83 |
+
"t_start": 0.023296797012701778,
|
| 84 |
+
"t_end": 152.52797526401392
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 30858,
|
| 88 |
+
"n_gyro": 30858,
|
| 89 |
+
"t_start": -0.8023861249863304,
|
| 90 |
+
"t_end": 151.306962871014
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 30706,
|
| 94 |
+
"n_gyro": 30717,
|
| 95 |
+
"t_start": -0.86840049698603,
|
| 96 |
+
"t_end": 151.29803187501366
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 15259,
|
| 100 |
+
"t_start": 0.10550250501310328,
|
| 101 |
+
"t_end": 152.68553107801327
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
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|
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|
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"instruction": "Carry the object over and fit it into the gap between the two boxes already on the shelf, without touching either of them. 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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|
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|
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"held_by": "from mocap hands",
|
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"instances": [
|
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{
|
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|
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|
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|
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"pose_frame": "mesh",
|
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"mesh": "objects/BigBox/bigbox.ply",
|
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|
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"instance": "BigBox",
|
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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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"name": "BigBox2",
|
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"object_type": "BigBox",
|
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"source": "mocap",
|
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|
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|
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|
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|
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|
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|
| 34 |
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"vision_source": null
|
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},
|
| 36 |
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{
|
| 37 |
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"name": "LittleBox1",
|
| 38 |
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"object_type": "LittleBox",
|
| 39 |
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|
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|
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|
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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"vision_source": null
|
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},
|
| 48 |
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{
|
| 49 |
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|
| 50 |
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"object_type": "LittleBox",
|
| 51 |
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"source": "mocap",
|
| 52 |
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"pose_frame": "mesh",
|
| 53 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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|
| 55 |
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"instance": "LittleBox2",
|
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|
| 57 |
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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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{
|
| 64 |
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|
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|
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|
| 67 |
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|
| 68 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 69 |
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|
| 70 |
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"instance": "LittleBox3",
|
| 71 |
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"rms_mm": 0.49
|
| 72 |
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},
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"name": "LittleBox4",
|
| 80 |
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"object_type": "LittleBox",
|
| 81 |
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"source": "mocap",
|
| 82 |
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|
| 83 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 84 |
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|
| 85 |
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"instance": "LittleBox4",
|
| 86 |
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|
| 87 |
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},
|
| 88 |
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|
| 89 |
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|
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|
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|
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},
|
| 93 |
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{
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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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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}
|
| 105 |
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],
|
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"absent": [],
|
| 107 |
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|
| 108 |
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"status": "corrected",
|
| 109 |
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|
| 110 |
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|
| 111 |
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"BigBox1",
|
| 112 |
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|
| 113 |
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"LittleBox1",
|
| 114 |
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"LittleBox2",
|
| 115 |
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"LittleBox3",
|
| 116 |
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"LittleBox4",
|
| 117 |
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|
| 118 |
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],
|
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|
| 120 |
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{
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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},
|
| 126 |
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{
|
| 127 |
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"name": "BigBox2",
|
| 128 |
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"object": "BigBox",
|
| 129 |
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"source": "mocap",
|
| 130 |
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"needs_video_check": false
|
| 131 |
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},
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