Release update 2026-11-05: new sessions, instructions, annotations (part 151)
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/LM76/20261031_080418_session88",
|
| 4 |
+
"session_id": "20261031_080418_session88",
|
| 5 |
+
"primitive": "LM76",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:53:51.182962+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": 132.025,
|
| 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": -0.093288,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9798,
|
| 32 |
+
"reference_imu_first_sample_s": 25652.687164418,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9811266259480067,
|
| 36 |
+
"drift_ppm": -23.61969183646025,
|
| 37 |
+
"drift_se_ppm": 15.565124807398737,
|
| 38 |
+
"drift_ms_over_take": -3.118192983943361,
|
| 39 |
+
"lag_scatter_ms": 1.6991432833586964,
|
| 40 |
+
"lag_range_ms": 6.298744320038491
|
| 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": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 26863,
|
| 76 |
+
"n_gyro": 26857,
|
| 77 |
+
"t_start": -0.10018522834733865,
|
| 78 |
+
"t_end": 132.22434083065374
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26698,
|
| 82 |
+
"n_gyro": 26692,
|
| 83 |
+
"t_start": 0.003908563653301306,
|
| 84 |
+
"t_end": 132.38779255865367
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26720,
|
| 88 |
+
"n_gyro": 26733,
|
| 89 |
+
"t_start": -0.9313459333455217,
|
| 90 |
+
"t_end": 131.1278093876542
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26706,
|
| 94 |
+
"n_gyro": 26706,
|
| 95 |
+
"t_start": -0.7765561583467321,
|
| 96 |
+
"t_end": 131.1265881156548
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13247,
|
| 100 |
+
"t_start": 0.08427147965331408,
|
| 101 |
+
"t_end": 132.5443752096514
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13205,
|
| 105 |
+
"t_start": -0.9180445963459466,
|
| 106 |
+
"t_end": 131.12172611965136
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13189,
|
| 110 |
+
"t_start": -0.758721200348457,
|
| 111 |
+
"t_end": 131.1210129086546
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 25652.817386,
|
| 118 |
+
"frames": 3960,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039562060298255736,
|
| 124 |
+
"t_end": 132.00626206029912,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 25652.817368,
|
| 131 |
+
"frames": 3960,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039333739267665285,
|
| 137 |
+
"t_end": 132.00601173926836,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 25652.817381,
|
| 144 |
+
"frames": 3960,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
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},
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| 532 |
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"task": {
|
| 534 |
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"primitive": "LM76",
|
| 535 |
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"instruction": "Carry the object across the room, open the lid of the container, put the object inside, and close the lid again. Then go back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 536 |
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},
|
| 537 |
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"objects": [
|
| 538 |
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{
|
| 539 |
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"name": "LittleBox4",
|
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|
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| 550 |
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{
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| 551 |
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"name": "LittleBox6",
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"object_type": "LittleBox",
|
| 553 |
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"source": "mocap",
|
| 554 |
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"pose_frame": "mesh"
|
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| 556 |
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{
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| 557 |
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"name": "OpenBox",
|
| 558 |
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"object_type": "OpenBox",
|
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"source": "mocap",
|
| 560 |
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"pose_frame": "rigid_body"
|
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{
|
| 563 |
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"name": "Table",
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|
| 565 |
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"source": "mocap",
|
| 566 |
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"pose_frame": "rigid_body"
|
| 567 |
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}
|
| 568 |
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]
|
| 569 |
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}
|
actions/locomanipulation/LM76/session_029/motions/head_rig.npz
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|
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actions/locomanipulation/LM76/session_029/motions/markers.npz
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|
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actions/locomanipulation/LM76/session_029/motions/object_markers.npz
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actions/locomanipulation/LM76/session_029/motions/objects.json
ADDED
|
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{
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|
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
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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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"instances": [
|
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{
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|
| 11 |
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|
| 12 |
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"pose_frame": "mesh",
|
| 14 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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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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|
| 26 |
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|
| 27 |
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|
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 30 |
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"calibration": {
|
| 31 |
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"instance": "LittleBox5",
|
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"rms_mm": 2.54
|
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},
|
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|
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|
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|
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|
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"instance": "LittleBox6",
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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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"notes": [],
|
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|
| 90 |
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|
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],
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|
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|
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ADDED
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| 1 |
+
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 39 |
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