Release update 2026-11-05: 5760 sessions, instructions, annotations (part 165)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +12 -0
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actions/locomanipulation/LM01/session_022/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM01/20261029_040613_session44",
|
| 4 |
+
"session_id": "20261029_040613_session44",
|
| 5 |
+
"primitive": "LM01",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:42:10.880590+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": 153.15833333333333,
|
| 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": -0.08053,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9958,
|
| 32 |
+
"reference_imu_first_sample_s": 12827.598716437,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.996347721468364,
|
| 36 |
+
"drift_ppm": 0.6378775595759618,
|
| 37 |
+
"drift_se_ppm": 2.151480779118165,
|
| 38 |
+
"drift_ms_over_take": 0.09769094824905857,
|
| 39 |
+
"lag_scatter_ms": 0.30043794049161077,
|
| 40 |
+
"lag_range_ms": 1.0941518095805292
|
| 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": 30919,
|
| 76 |
+
"n_gyro": 30913,
|
| 77 |
+
"t_start": -0.09703046014323458,
|
| 78 |
+
"t_end": 153.36299012485512
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 30768,
|
| 82 |
+
"n_gyro": 30763,
|
| 83 |
+
"t_start": 0.012153605855981242,
|
| 84 |
+
"t_end": 153.52868412185677
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 31093,
|
| 88 |
+
"n_gyro": 31093,
|
| 89 |
+
"t_start": -0.9154830961433091,
|
| 90 |
+
"t_end": 152.34610114385583
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 30916,
|
| 94 |
+
"n_gyro": 30914,
|
| 95 |
+
"t_start": -0.8452003441433973,
|
| 96 |
+
"t_end": 152.3542589198551
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 15360,
|
| 100 |
+
"t_start": 0.0988329148568099,
|
| 101 |
+
"t_end": 153.68881898785554
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 15325,
|
| 105 |
+
"t_start": -0.8975693711435653,
|
| 106 |
+
"t_end": 152.34247179385608
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 15318,
|
| 110 |
+
"t_start": -0.8234434871446339,
|
| 111 |
+
"t_end": 152.3466554338557
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 12827.716128,
|
| 118 |
+
"frames": 4594,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03943611729851715,
|
| 124 |
+
"t_end": 153.13936911729803,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 12827.716098,
|
| 131 |
+
"frames": 4594,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
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"frames_used": 1500
|
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},
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"generated_at_utc": "2026-11-03T09:49:44.724099+00:00",
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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}
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"release": {
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"release_path": "actions/locomanipulation/LM01/session_022",
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"family": "locomanipulation",
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"primitive": "LM01",
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"source_session": "20261029/LM01/20261029_040613_session44"
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| 527 |
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},
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| 528 |
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"task": {
|
| 529 |
+
"primitive": "LM01",
|
| 530 |
+
"instruction": "Pick an object up off the floor at one end of the room, carry it across, and place it on the waist-height shelf at the other end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 531 |
+
},
|
| 532 |
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"objects": [
|
| 533 |
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{
|
| 534 |
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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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},
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| 539 |
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{
|
| 540 |
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"name": "LittleBox4",
|
| 541 |
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"object_type": "LittleBox",
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"source": "mocap",
|
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"pose_frame": "mesh"
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},
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{
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"name": "LittleBox5",
|
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"object_type": "LittleBox",
|
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"source": "mocap",
|
| 549 |
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"pose_frame": "mesh"
|
| 550 |
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},
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| 551 |
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{
|
| 552 |
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"name": "LittleBox6",
|
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"object_type": "LittleBox",
|
| 554 |
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"source": "mocap",
|
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"pose_frame": "mesh"
|
| 556 |
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},
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| 557 |
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{
|
| 558 |
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"name": "Table",
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"object_type": "Table",
|
| 560 |
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"source": "mocap",
|
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"pose_frame": "rigid_body"
|
| 562 |
+
}
|
| 563 |
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]
|
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}
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actions/locomanipulation/LM01/session_022/motions/head_rig.npz
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actions/locomanipulation/LM01/session_022/motions/markers.npz
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actions/locomanipulation/LM01/session_022/motions/objects.json
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{
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"session": "20261029/LM01/20261029_040613_session44",
|
| 3 |
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"generated_at_utc": "2026-11-04T20:27:34.428321+00:00",
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"generated_by": "scripts/export_objects.py",
|
| 5 |
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
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"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
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"held_by": "from mocap hands",
|
| 8 |
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"instances": [
|
| 9 |
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{
|
| 10 |
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"name": "LittleBox3",
|
| 11 |
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"object_type": "LittleBox",
|
| 12 |
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"source": "mocap",
|
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"pose_frame": "mesh",
|
| 14 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
| 16 |
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"instance": "LittleBox3",
|
| 17 |
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"rms_mm": 0.28
|
| 18 |
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},
|
| 19 |
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"valid_pct": 64.77,
|
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"verified_pct": 64.71,
|
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"moving_pct": 7.69,
|
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"vision_source": null
|
| 23 |
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},
|
| 24 |
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{
|
| 25 |
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"name": "LittleBox4",
|
| 26 |
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"object_type": "LittleBox",
|
| 27 |
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"source": "mocap",
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| 28 |
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"pose_frame": "mesh",
|
| 29 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 30 |
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"calibration": {
|
| 31 |
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"instance": "LittleBox4",
|
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"rms_mm": 0.38
|
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},
|
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"valid_pct": 91.43,
|
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"verified_pct": 91.43,
|
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"moving_pct": 11.35,
|
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"vision_source": null
|
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},
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{
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"name": "LittleBox5",
|
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"object_type": "LittleBox",
|
| 42 |
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"source": "mocap",
|
| 43 |
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"pose_frame": "mesh",
|
| 44 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
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"instance": "LittleBox5",
|
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"rms_mm": 2.0
|
| 48 |
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},
|
| 49 |
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"valid_pct": 64.16,
|
| 50 |
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"verified_pct": 64.15,
|
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"moving_pct": 12.92,
|
| 52 |
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"vision_source": null
|
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},
|
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{
|
| 55 |
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"name": "LittleBox6",
|
| 56 |
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"object_type": "LittleBox",
|
| 57 |
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"source": "mocap",
|
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"pose_frame": "mesh",
|
| 59 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 60 |
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"calibration": {
|
| 61 |
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"instance": "LittleBox6",
|
| 62 |
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"rms_mm": 1.88
|
| 63 |
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},
|
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"valid_pct": 87.11,
|
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|
| 66 |
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"moving_pct": 12.06,
|
| 67 |
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"vision_source": null
|
| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"name": "Table",
|
| 71 |
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"object_type": "Table",
|
| 72 |
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"source": "mocap",
|
| 73 |
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"pose_frame": "rigid_body",
|
| 74 |
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"mesh": null,
|
| 75 |
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"calibration": null,
|
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"valid_pct": 99.99,
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|
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|
| 79 |
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"vision_source": null
|
| 80 |
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}
|
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],
|
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"absent": [],
|
| 83 |
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"object_list": {
|
| 84 |
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"status": "corrected",
|
| 85 |
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"notes": [],
|
| 86 |
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"declared": [
|
| 87 |
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"LittleBox3",
|
| 88 |
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"LittleBox4",
|
| 89 |
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"LittleBox5",
|
| 90 |
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"LittleBox6",
|
| 91 |
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"Table0"
|
| 92 |
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],
|
| 93 |
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"listed": [
|
| 94 |
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{
|
| 95 |
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"name": "LittleBox3",
|
| 96 |
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"object": "LittleBox",
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"source": "mocap",
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"needs_video_check": false
|
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},
|
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{
|
| 101 |
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"name": "LittleBox4",
|
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"object": "LittleBox",
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| 103 |
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"source": "mocap",
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"needs_video_check": false
|
| 105 |
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},
|
| 106 |
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{
|
| 107 |
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"name": "LittleBox5",
|
| 108 |
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"object": "LittleBox",
|
| 109 |
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"source": "mocap",
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"needs_video_check": false
|
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},
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{
|
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"name": "LittleBox6",
|
| 114 |
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"object": "LittleBox",
|
| 115 |
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"source": "mocap",
|
| 116 |
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|
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},
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{
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"source": "mocap",
|
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|
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}
|
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]
|
| 125 |
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},
|
| 126 |
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"notes": []
|
| 127 |
+
}
|
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