Release update 2026-11-05: 5760 sessions, instructions, annotations (part 277)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +11 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM07/20261028_055925_session68",
|
| 4 |
+
"session_id": "20261028_055925_session68",
|
| 5 |
+
"primitive": "LM07",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "mahui",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "75b5984e04d1d236",
|
| 12 |
+
"right": "c84bc808cb6b47af"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:20:08.946797+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": 125.925,
|
| 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": -0.088526,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9768,
|
| 32 |
+
"reference_imu_first_sample_s": 18862.349618943,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9970320839183828,
|
| 36 |
+
"drift_ppm": -482.04020555738845,
|
| 37 |
+
"drift_se_ppm": 275.8717086457831,
|
| 38 |
+
"drift_ms_over_take": -60.69689588310116,
|
| 39 |
+
"lag_scatter_ms": 26.171488239691193,
|
| 40 |
+
"lag_range_ms": 105.76333539830455
|
| 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": 25434,
|
| 76 |
+
"n_gyro": 25428,
|
| 77 |
+
"t_start": -0.10043771121405143,
|
| 78 |
+
"t_end": 126.13607018978377
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25312,
|
| 82 |
+
"n_gyro": 25306,
|
| 83 |
+
"t_start": 0.0068063717853351635,
|
| 84 |
+
"t_end": 126.29970934978422
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25173,
|
| 88 |
+
"n_gyro": 25188,
|
| 89 |
+
"t_start": -0.8121843342151419,
|
| 90 |
+
"t_end": 124.42785893978447
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25374,
|
| 94 |
+
"n_gyro": 25386,
|
| 95 |
+
"t_start": -0.7532560752143195,
|
| 96 |
+
"t_end": 124.43448589178382
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12639,
|
| 100 |
+
"t_start": 0.08616916378463657,
|
| 101 |
+
"t_end": 126.46616659878504
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12523,
|
| 105 |
+
"t_start": -0.7952794322146087,
|
| 106 |
+
"t_end": 124.4249353227869
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12518,
|
| 110 |
+
"t_start": -0.7403360672133726,
|
| 111 |
+
"t_end": 124.43018089478659
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 18862.475211,
|
| 118 |
+
"frames": 3777,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03962032223075085,
|
| 124 |
+
"t_end": 125.90632032222942,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 18862.475192,
|
| 131 |
+
"frames": 3777,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"release": {
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"release_path": "actions/locomanipulation/LM07/session_017",
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"family": "locomanipulation",
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"source_session": "20261028/LM07/20261028_055925_session68"
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| 526 |
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},
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| 527 |
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"task": {
|
| 528 |
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"primitive": "LM07",
|
| 529 |
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"instruction": "Take an object down from the highest shelf you can comfortably reach, carry it across, and place it on the waist-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
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},
|
| 531 |
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"objects": [
|
| 532 |
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{
|
| 533 |
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"name": "HighRack",
|
| 534 |
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"object_type": "HighRack",
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"source": "mocap",
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| 536 |
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"pose_frame": "rigid_body"
|
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},
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| 538 |
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{
|
| 539 |
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"name": "LittleBox1",
|
| 540 |
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"object_type": "LittleBox",
|
| 541 |
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"source": "mocap",
|
| 542 |
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"pose_frame": "rigid_body"
|
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},
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{
|
| 545 |
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"name": "LittleBox2",
|
| 546 |
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"object_type": "LittleBox",
|
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"source": "mocap",
|
| 548 |
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"pose_frame": "mesh"
|
| 549 |
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},
|
| 550 |
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{
|
| 551 |
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"name": "LittleBox3",
|
| 552 |
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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": "LittleBox4",
|
| 558 |
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"object_type": "LittleBox",
|
| 559 |
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"source": "mocap",
|
| 560 |
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"pose_frame": "mesh"
|
| 561 |
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},
|
| 562 |
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{
|
| 563 |
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"name": "LittleBox5",
|
| 564 |
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"object_type": "LittleBox",
|
| 565 |
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"source": "mocap",
|
| 566 |
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"pose_frame": "mesh"
|
| 567 |
+
},
|
| 568 |
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{
|
| 569 |
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"name": "LittleBox6",
|
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"object_type": "LittleBox",
|
| 571 |
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"source": "mocap",
|
| 572 |
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"pose_frame": "mesh"
|
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+
}
|
| 574 |
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]
|
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}
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actions/locomanipulation/LM07/session_017/motions/head_rig.npz
ADDED
|
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actions/locomanipulation/LM07/session_017/motions/markers.npz
ADDED
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actions/locomanipulation/LM07/session_017/motions/object_markers.npz
ADDED
|
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actions/locomanipulation/LM07/session_017/motions/objects.json
ADDED
|
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{
|
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"session": "20261028/LM07/20261028_055925_session68",
|
| 3 |
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"generated_at_utc": "2026-11-04T20:09:40.198497+00:00",
|
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"generated_by": "scripts/export_objects.py",
|
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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)",
|
| 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": "HighRack",
|
| 11 |
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"object_type": "HighRack",
|
| 12 |
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"source": "mocap",
|
| 13 |
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"pose_frame": "rigid_body",
|
| 14 |
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"mesh": null,
|
| 15 |
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"calibration": null,
|
| 16 |
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"valid_pct": 99.99,
|
| 17 |
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|
| 18 |
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"moving_pct": 0.0,
|
| 19 |
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"vision_source": null
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"name": "LittleBox1",
|
| 23 |
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"object_type": "LittleBox",
|
| 24 |
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"source": "mocap",
|
| 25 |
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"pose_frame": "rigid_body",
|
| 26 |
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"mesh": null,
|
| 27 |
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"calibration": null,
|
| 28 |
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"valid_pct": 46.73,
|
| 29 |
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"verified_pct": 46.72,
|
| 30 |
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"moving_pct": 7.25,
|
| 31 |
+
"vision_source": null
|
| 32 |
+
},
|
| 33 |
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{
|
| 34 |
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"name": "LittleBox2",
|
| 35 |
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"object_type": "LittleBox",
|
| 36 |
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"source": "mocap",
|
| 37 |
+
"pose_frame": "mesh",
|
| 38 |
+
"mesh": "objects/LittleBox/littlebox.ply",
|
| 39 |
+
"calibration": {
|
| 40 |
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"instance": "LittleBox2",
|
| 41 |
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"rms_mm": 0.76
|
| 42 |
+
},
|
| 43 |
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"valid_pct": 99.17,
|
| 44 |
+
"verified_pct": 99.17,
|
| 45 |
+
"moving_pct": 8.11,
|
| 46 |
+
"vision_source": null
|
| 47 |
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},
|
| 48 |
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{
|
| 49 |
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"name": "LittleBox3",
|
| 50 |
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"object_type": "LittleBox",
|
| 51 |
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"source": "mocap",
|
| 52 |
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"pose_frame": "mesh",
|
| 53 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 54 |
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"calibration": {
|
| 55 |
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"instance": "LittleBox3",
|
| 56 |
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|
| 57 |
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},
|
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|
| 59 |
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|
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|
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|
| 62 |
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},
|
| 63 |
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{
|
| 64 |
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"name": "LittleBox4",
|
| 65 |
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"object_type": "LittleBox",
|
| 66 |
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"source": "mocap",
|
| 67 |
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"pose_frame": "mesh",
|
| 68 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 69 |
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"calibration": {
|
| 70 |
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"instance": "LittleBox4",
|
| 71 |
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"rms_mm": 0.41
|
| 72 |
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},
|
| 73 |
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"valid_pct": 42.75,
|
| 74 |
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"verified_pct": 42.75,
|
| 75 |
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"moving_pct": 2.67,
|
| 76 |
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"vision_source": null
|
| 77 |
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},
|
| 78 |
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{
|
| 79 |
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"name": "LittleBox5",
|
| 80 |
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"object_type": "LittleBox",
|
| 81 |
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"source": "mocap",
|
| 82 |
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"pose_frame": "mesh",
|
| 83 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 84 |
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"calibration": {
|
| 85 |
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"instance": "LittleBox5",
|
| 86 |
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"rms_mm": 1.93
|
| 87 |
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},
|
| 88 |
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"valid_pct": 99.22,
|
| 89 |
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|
| 90 |
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|
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|
| 92 |
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},
|
| 93 |
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{
|
| 94 |
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"name": "LittleBox6",
|
| 95 |
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"object_type": "LittleBox",
|
| 96 |
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"source": "mocap",
|
| 97 |
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"pose_frame": "mesh",
|
| 98 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 99 |
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"calibration": {
|
| 100 |
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"instance": "LittleBox6",
|
| 101 |
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"rms_mm": 1.36
|
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},
|
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|
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|
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|
| 106 |
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|
| 107 |
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}
|
| 108 |
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],
|
| 109 |
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"absent": [],
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| 110 |
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| 111 |
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"status": "corrected",
|
| 112 |
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|
| 113 |
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"declared": [
|
| 114 |
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"HighRack0",
|
| 115 |
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"LittleBox1",
|
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"LittleBox2",
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"LittleBox3",
|
| 118 |
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"LittleBox4",
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| 119 |
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"LittleBox5",
|
| 120 |
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"LittleBox6"
|
| 121 |
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],
|
| 122 |
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"listed": [
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{
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| 124 |
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|
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|
| 126 |
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|
| 127 |
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|
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|
| 129 |
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{
|
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"name": "LittleBox1",
|
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|
| 132 |
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|
| 133 |
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|
| 134 |
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},
|
| 135 |
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{
|
| 136 |
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|
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|
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|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
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"name": "LittleBox3",
|
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"object": "LittleBox",
|
| 144 |
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"source": "mocap",
|
| 145 |
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"needs_video_check": false
|
| 146 |
+
},
|
| 147 |
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{
|
| 148 |
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"name": "LittleBox4",
|
| 149 |
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"object": "LittleBox",
|
| 150 |
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"source": "mocap",
|
| 151 |
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"needs_video_check": false
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
+
"name": "LittleBox5",
|
| 155 |
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"object": "LittleBox",
|
| 156 |
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"source": "mocap",
|
| 157 |
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"needs_video_check": false
|
| 158 |
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},
|
| 159 |
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{
|
| 160 |
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"name": "LittleBox6",
|
| 161 |
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"object": "LittleBox",
|
| 162 |
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"source": "mocap",
|
| 163 |
+
"needs_video_check": false
|
| 164 |
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}
|
| 165 |
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]
|
| 166 |
+
},
|
| 167 |
+
"notes": []
|
| 168 |
+
}
|
actions/locomanipulation/LM07/session_017/motions/objects.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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@@ -0,0 +1,3 @@
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