Release update 2026-11-05: new sessions, instructions, annotations (part 114)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +10 -0
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- actions/locomanipulation/LM59/session_016/sensors/head_imu.npz +3 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM59/20261029_011332_session4",
|
| 4 |
+
"session_id": "20261029_011332_session4",
|
| 5 |
+
"primitive": "LM59",
|
| 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": "2026-10-30T07:39:43.385448+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": 170.39166666666668,
|
| 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": -0.082337,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9962,
|
| 32 |
+
"reference_imu_first_sample_s": 2467.047966718,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 16,
|
| 35 |
+
"window_corr_median": 0.9942513112579885,
|
| 36 |
+
"drift_ppm": -0.46283387565448025,
|
| 37 |
+
"drift_se_ppm": 2.9129688833969056,
|
| 38 |
+
"drift_ms_over_take": -0.07885917851359586,
|
| 39 |
+
"lag_scatter_ms": 0.5024343584392381,
|
| 40 |
+
"lag_range_ms": 2.1264541173137976
|
| 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": 34386,
|
| 76 |
+
"n_gyro": 34380,
|
| 77 |
+
"t_start": -0.08927599083952321,
|
| 78 |
+
"t_end": 170.58031806016035
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 34214,
|
| 82 |
+
"n_gyro": 34207,
|
| 83 |
+
"t_start": 0.03302996716021932,
|
| 84 |
+
"t_end": 170.7446966621603
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 34452,
|
| 88 |
+
"n_gyro": 34453,
|
| 89 |
+
"t_start": -0.908345974839703,
|
| 90 |
+
"t_end": 168.90089195016046
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 34240,
|
| 94 |
+
"n_gyro": 34251,
|
| 95 |
+
"t_start": -0.7544070868396188,
|
| 96 |
+
"t_end": 168.90663526916043
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 17078,
|
| 100 |
+
"t_start": 0.1307224251602025,
|
| 101 |
+
"t_end": 170.90078363216045
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 16980,
|
| 105 |
+
"t_start": -0.8954605378396804,
|
| 106 |
+
"t_end": 168.8946038231604
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 16965,
|
| 110 |
+
"t_start": -0.7377555168398243,
|
| 111 |
+
"t_end": 168.90221351916054
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2467.167396,
|
| 118 |
+
"frames": 5111,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03964644360368817,
|
| 124 |
+
"t_end": 170.37292444360375,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2467.167338,
|
| 131 |
+
"frames": 5111,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03940067823779879,
|
| 137 |
+
"t_end": 170.37271167823766,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 2467.167378,
|
| 144 |
+
"frames": 5111,
|
| 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": 0.03974666336873321,
|
| 150 |
+
"t_end": 170.37303566336888,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 2467.167406,
|
| 157 |
+
"frames": 5111,
|
| 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": 0.0396973866542981,
|
| 163 |
+
"t_end": 170.37296438665427,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 2467.167355,
|
| 170 |
+
"frames": 5102,
|
| 171 |
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},
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"gender": "female",
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},
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"CLAV 9mm",
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"T10 8mm",
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"STRN 7mm",
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"RUArmHigh 6mm"
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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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-2.0,
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2.2
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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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"RWristOut"
|
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]
|
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},
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"frames_used": 1500
|
| 517 |
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},
|
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"generated_at_utc": "2026-11-03T10:17:05.393050+00:00",
|
| 519 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 520 |
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}
|
| 521 |
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},
|
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"release": {
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"release_path": "actions/locomanipulation/LM59/session_017",
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"family": "locomanipulation",
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"primitive": "LM59",
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"source_session": "20261029/LM59/20261029_011332_session4"
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},
|
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"task": {
|
| 529 |
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"primitive": "LM59",
|
| 530 |
+
"instruction": "Carry the object over and line it up with the mark on the surface as accurately as you can. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 531 |
+
},
|
| 532 |
+
"objects": [
|
| 533 |
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{
|
| 534 |
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"name": "LittleBox3",
|
| 535 |
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"object_type": "LittleBox",
|
| 536 |
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"source": "mocap",
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| 537 |
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"pose_frame": "mesh"
|
| 538 |
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},
|
| 539 |
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{
|
| 540 |
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"name": "LittleBox4",
|
| 541 |
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"object_type": "LittleBox",
|
| 542 |
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"source": "mocap",
|
| 543 |
+
"pose_frame": "mesh"
|
| 544 |
+
},
|
| 545 |
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{
|
| 546 |
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"name": "LittleBox5",
|
| 547 |
+
"object_type": "LittleBox",
|
| 548 |
+
"source": "mocap",
|
| 549 |
+
"pose_frame": "mesh"
|
| 550 |
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},
|
| 551 |
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{
|
| 552 |
+
"name": "LittleBox6",
|
| 553 |
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"object_type": "LittleBox",
|
| 554 |
+
"source": "mocap",
|
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"pose_frame": "mesh"
|
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|
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| 558 |
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