Release update 2026-11-05: new sessions, instructions, annotations (part 103)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +11 -0
- actions/locomanipulation/LM57/session_008/raw/mocap/Body0.csv +3 -0
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- actions/locomanipulation/LM57/session_008/raw/sensors/robowrist_imu_right.db +3 -0
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- actions/locomanipulation/LM57/session_008/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM57/session_008/sensors/head_mag.npz +3 -0
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- actions/locomanipulation/LM57/session_008/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM57/session_008/videos/head_left.mp4 +3 -0
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- actions/locomanipulation/LM57/session_008/videos/head_left_front.mp4 +3 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM57/20261029_104613_session49",
|
| 4 |
+
"session_id": "20261029_104613_session49",
|
| 5 |
+
"primitive": "LM57",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:39:40.618748+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": 141.35833333333332,
|
| 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": -0.083591,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9966,
|
| 32 |
+
"reference_imu_first_sample_s": 9465.245441393,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9974362536947922,
|
| 36 |
+
"drift_ppm": -1.4376726773333381,
|
| 37 |
+
"drift_se_ppm": 3.1429407350699017,
|
| 38 |
+
"drift_ms_over_take": -0.20321503294106733,
|
| 39 |
+
"lag_scatter_ms": 0.3900286881090808,
|
| 40 |
+
"lag_range_ms": 1.543588157364606
|
| 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": 28536,
|
| 76 |
+
"n_gyro": 28530,
|
| 77 |
+
"t_start": -0.09054007991406994,
|
| 78 |
+
"t_end": 141.54466833708713
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 28397,
|
| 82 |
+
"n_gyro": 28391,
|
| 83 |
+
"t_start": 0.023543670086575583,
|
| 84 |
+
"t_end": 141.71150886408643
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 28547,
|
| 88 |
+
"n_gyro": 28559,
|
| 89 |
+
"t_start": -0.9477184179134276,
|
| 90 |
+
"t_end": 139.76752621108673
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 28393,
|
| 94 |
+
"n_gyro": 28393,
|
| 95 |
+
"t_start": -0.9349026449138257,
|
| 96 |
+
"t_end": 139.76567539408708
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14178,
|
| 100 |
+
"t_start": 0.10361371108657462,
|
| 101 |
+
"t_end": 141.87360448708634
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14063,
|
| 105 |
+
"t_start": -0.9298121739132404,
|
| 106 |
+
"t_end": 139.69034017408623
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14069,
|
| 110 |
+
"t_start": -0.9179908719136513,
|
| 111 |
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"instruction": "Carry the object across the room and place it on the lowest shelf, crouching down to do it. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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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": "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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|
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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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"OpenBox0",
|
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|
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],
|
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"listed": [
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{
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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 |
+
{
|
| 2 |
+
"schema_version": 1,
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| 3 |
+
"created_at_utc": "2026-10-29T17:29:48.622767+00:00",
|
| 4 |
+
"primitive_id": "LM57",
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| 5 |
+
"session_id": "20261029_104613_session49",
|
| 6 |
+
"upload_batch_id": "20261029",
|
| 7 |
+
"dataset_path": "EgoMotionActions/20261029/LM57/20261029_104613_session49",
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| 8 |
+
"segment": "auto/all",
|
| 9 |
+
"duration_s": 141.300022,
|
| 10 |
+
"device_ids": {
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| 11 |
+
"main": "e3296774a321bb51",
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| 12 |
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"left": "39042f5fb5da3b12",
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| 13 |
+
"right": "65a3481473d6e2a0"
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| 14 |
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},
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| 15 |
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"mocap_rigid_names": [
|
| 16 |
+
"Body0",
|
| 17 |
+
"LittleBox3",
|
| 18 |
+
"LittleBox4",
|
| 19 |
+
"LittleBox6",
|
| 20 |
+
"OpenBox",
|
| 21 |
+
"Table",
|
| 22 |
+
"Tracker0"
|
| 23 |
+
],
|
| 24 |
+
"objects": [
|
| 25 |
+
"LittleBox3",
|
| 26 |
+
"LittleBox4",
|
| 27 |
+
"LittleBox6",
|
| 28 |
+
"OpenBox0",
|
| 29 |
+
"Table0"
|
| 30 |
+
],
|
| 31 |
+
"options": {
|
| 32 |
+
"raw_video": true,
|
| 33 |
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"proxy_height": 540,
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| 34 |
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"proxy_crf": 28,
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| 35 |
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"proxy_bitrate": "1400k",
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| 36 |
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"mocap_selection": "explicit",
|
| 37 |
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"mocap_files": [
|
| 38 |
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"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-1.mp4",
|
| 39 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-Body0.bvh",
|
| 40 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-Body0.csv",
|
| 41 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-Body0.trc",
|
| 42 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-LittleBox3.csv",
|
| 43 |
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"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-LittleBox3.trc",
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| 44 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-LittleBox4.csv",
|
| 45 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-LittleBox4.trc",
|
| 46 |
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"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-LittleBox6.csv",
|
| 47 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-LittleBox6.trc",
|
| 48 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-OpenBox.csv",
|
| 49 |
+
"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-OpenBox.trc",
|
| 50 |
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"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-Table.csv",
|
| 51 |
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"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-Table.trc",
|
| 52 |
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"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-Tracker0.csv",
|
| 53 |
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"mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-Tracker0.trc"
|
| 54 |
+
],
|
| 55 |
+
"include_rrd": false,
|
| 56 |
+
"rrd_files": [],
|
| 57 |
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"aligned_intersection": false
|
| 58 |
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},
|
| 59 |
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"files": [
|
| 60 |
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{
|
| 61 |
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"source": "audio_segment1.wav",
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| 62 |
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"packaged_as": "audio_segment1.wav",
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| 63 |
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"kind": "data",
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| 64 |
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| 65 |
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"packaged_bytes": 27221838,
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| 66 |
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"compressed_video": false,
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| 67 |
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"sha256": "8acc300fba73d7e365eae2289f146c0430dbd6444a97e232227c64c51b14eeda"
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| 68 |
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},
|
| 69 |
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{
|
| 70 |
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"source": "mocap-LM57-S01-lvaoshan-01p1/mocap-LM57-S01-lvaoshan-01p1-1.mp4",
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| 71 |
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| 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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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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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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| 116 |
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| 117 |
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| 118 |
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| 134 |
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| 135 |
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| 143 |
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actions/locomanipulation/LM57/session_009/raw/mocap/Body0.bvh
ADDED
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