Release update 2026-11-05: 5760 sessions, instructions, annotations (part 232)
Browse files- .gitattributes +5 -0
- actions/locomanipulation/LM04/session_024/raw/mocap/LittleBox2.csv +0 -0
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- actions/locomanipulation/LM04/session_024/raw/sensors/robocap_mag_middle.db +3 -0
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- actions/locomanipulation/LM04/session_024/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM04/session_024/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM04/session_024/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM04/session_024/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM04/session_024/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM04/session_024/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM04/session_024/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM04/session_024/videos/third_person.mp4 +3 -0
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- actions/locomanipulation/LM04/session_025/raw/mocap/LittleBox4.csv +0 -0
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- actions/locomanipulation/LM04/session_025/raw/mocap/LittleBox5.csv +0 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261103/LM04/20261103_025701_session134",
|
| 4 |
+
"session_id": "20261103_025701_session134",
|
| 5 |
+
"primitive": "LM04",
|
| 6 |
+
"batch": "20261103",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T22:16:15.854992+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": 138.99166666666667,
|
| 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": -0.08432,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9429,
|
| 32 |
+
"reference_imu_first_sample_s": 8762.229922353,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9220633867522179,
|
| 36 |
+
"drift_ppm": 18.80378231997168,
|
| 37 |
+
"drift_se_ppm": 11.06150832489351,
|
| 38 |
+
"drift_ms_over_take": 2.613412346104064,
|
| 39 |
+
"lag_scatter_ms": 1.2075128087071325,
|
| 40 |
+
"lag_range_ms": 4.451913171159255
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27936,
|
| 76 |
+
"n_gyro": 27930,
|
| 77 |
+
"t_start": -0.09129780881795943,
|
| 78 |
+
"t_end": 139.17899466118268
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27884,
|
| 82 |
+
"n_gyro": 27878,
|
| 83 |
+
"t_start": 0.027525399182362326,
|
| 84 |
+
"t_end": 139.34904603518243
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 27454,
|
| 88 |
+
"n_gyro": 27454,
|
| 89 |
+
"t_start": -0.8305595678173783,
|
| 90 |
+
"t_end": 137.8219979841835
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27374,
|
| 94 |
+
"n_gyro": 27374,
|
| 95 |
+
"t_start": -0.77490153681703,
|
| 96 |
+
"t_end": 137.8185279401825
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13940,
|
| 100 |
+
"t_start": 0.11496819118309157,
|
| 101 |
+
"t_end": 139.50498754918243
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13865,
|
| 105 |
+
"t_start": -0.8216317548174781,
|
| 106 |
+
"t_end": 137.8178147091823
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13859,
|
| 110 |
+
"t_start": -0.7664018518169693,
|
| 111 |
+
"t_end": 137.8131380731831
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 8762.351933,
|
| 118 |
+
"frames": 4169,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040033403980654275,
|
| 124 |
+
"t_end": 138.9733894039802,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 8762.351887,
|
| 131 |
+
"frames": 4169,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03959397982924509,
|
| 137 |
+
"t_end": 138.97289397982985,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 8762.351919,
|
| 144 |
+
"frames": 4169,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03949413842218144,
|
| 150 |
+
"t_end": 138.9728381384213,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 8762.351951,
|
| 157 |
+
"frames": 4169,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03943857983011492,
|
| 163 |
+
"t_end": 138.97280557982975,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 8762.351903,
|
| 170 |
+
"frames": 4169,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.001668932298833096,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.03932994748191357,
|
| 176 |
+
"t_end": 138.9726519474827,
|
| 177 |
+
"clock": "device",
|
| 178 |
+
"calibrated": true
|
| 179 |
+
},
|
| 180 |
+
"right_eye": {
|
| 181 |
+
"fps": 30.0,
|
| 182 |
+
"start_device_s": 8762.351865,
|
| 183 |
+
"frames": 4169,
|
| 184 |
+
"pts_gaps": 0,
|
| 185 |
+
"timing": "pts",
|
| 186 |
+
"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 187 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
+
"t_start": 0.039339952945905116,
|
| 189 |
+
"t_end": 138.97262895294642,
|
| 190 |
+
"clock": "device",
|
| 191 |
+
"calibrated": true
|
| 192 |
+
},
|
| 193 |
+
"wrist_left": {
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"start_device_s": 8761.535607,
|
| 196 |
+
"frames": 4157,
|
| 197 |
+
"pts_gaps": 0,
|
| 198 |
+
"timing": "pts",
|
| 199 |
+
"timeshift_cam_imu_s": null,
|
| 200 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 201 |
+
"t_start": -0.7786349848173055,
|
| 202 |
+
"t_end": 137.75424301518268,
|
| 203 |
+
"clock": "device",
|
| 204 |
+
"calibrated": false
|
| 205 |
+
},
|
| 206 |
+
"wrist_right": {
|
| 207 |
+
"fps": 30.0,
|
| 208 |
+
"start_device_s": 8761.47982,
|
| 209 |
+
"frames": 4159,
|
| 210 |
+
"pts_gaps": 0,
|
| 211 |
+
"timing": "pts",
|
| 212 |
+
"timeshift_cam_imu_s": null,
|
| 213 |
+
"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 214 |
+
"t_start": -0.8344219848166328,
|
| 215 |
+
"t_end": 137.76499201518362,
|
| 216 |
+
"clock": "device",
|
| 217 |
+
"calibrated": false
|
| 218 |
+
},
|
| 219 |
+
"third_person": {
|
| 220 |
+
"file": "mocap/mocap-LM04-S01-xiaobo-01p1-1.mp4",
|
| 221 |
+
"frames": 4170,
|
| 222 |
+
"fps": 30.0,
|
| 223 |
+
"clock": "nokov (frame index)",
|
| 224 |
+
"t_start": 0.0,
|
| 225 |
+
"t_end": 138.96666666666667
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
+
},
|
| 229 |
+
"flags": [],
|
| 230 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
+
"rig_tracker": {
|
| 232 |
+
"definition": "e17c9efadb69e7b1/20261103-morning/labels-253140/session-5133c79a7933b8bd",
|
| 233 |
+
"R_tracker0_imu0": [
|
| 234 |
+
[
|
| 235 |
+
-0.68998762,
|
| 236 |
+
0.29738191,
|
| 237 |
+
-0.65990991
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
0.7196837,
|
| 241 |
+
0.1845193,
|
| 242 |
+
-0.669334
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
-0.07728171,
|
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