Release update 2026-11-05: 5760 sessions, instructions, annotations (part 149)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +13 -0
- actions/human_human_locomanipulation/HH13/session_015/raw/mocap/Body0.csv +3 -0
- actions/human_human_locomanipulation/HH13/session_015/raw/mocap/Body0.trc +3 -0
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- actions/human_human_locomanipulation/HH13/session_015/raw/sensors/robocap_imu_right.db +3 -0
- actions/human_human_locomanipulation/HH13/session_015/raw/sensors/robocap_mag_middle.db +3 -0
- actions/human_human_locomanipulation/HH13/session_015/raw/sensors/robowrist_imu_left.db +3 -0
- actions/human_human_locomanipulation/HH13/session_015/raw/sensors/robowrist_imu_right.db +3 -0
- actions/human_human_locomanipulation/HH13/session_015/raw/sensors/robowrist_mag_left.db +3 -0
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size 67588774
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actions/human_human_locomanipulation/HH13/session_015/videos/head_right_front.mp4
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|
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actions/human_human_locomanipulation/HH13/session_015/videos/third_person.mp4
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261030/HH13/20261030_112132_session28",
|
| 4 |
+
"session_id": "20261030_112132_session28",
|
| 5 |
+
"primitive": "HH13",
|
| 6 |
+
"batch": "20261030",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "75b5984e04d1d236",
|
| 12 |
+
"right": "c84bc808cb6b47af"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:45:56.257432+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": 131.025,
|
| 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": -0.088176,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9931,
|
| 32 |
+
"reference_imu_first_sample_s": 7003.06288178,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9888972702669379,
|
| 36 |
+
"drift_ppm": -57.27263331166229,
|
| 37 |
+
"drift_se_ppm": 31.50647705575912,
|
| 38 |
+
"drift_ms_over_take": -7.503669507716288,
|
| 39 |
+
"lag_scatter_ms": 3.439356865686106,
|
| 40 |
+
"lag_range_ms": 15.728793749581914
|
| 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 |
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|
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"status": "corrected",
|
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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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|
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-5.7,
|
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6.5
|
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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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"primitive": "HH13",
|
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"instruction": "Take the objects off the shelf one at a time, carry each one to your partner and hand it over, then go back for the next one. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
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{
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"object_type": "Table",
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{
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|
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"instances": [
|
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{
|
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"name": "LittleBox4",
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"object_type": "LittleBox",
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"source": "mocap",
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|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
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"instance": "LittleBox4",
|
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"rms_mm": 0.43
|
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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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"name": "LittleBox5",
|
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"object_type": "LittleBox",
|
| 27 |
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"source": "mocap",
|
| 28 |
+
"pose_frame": "mesh",
|
| 29 |
+
"mesh": "objects/LittleBox/littlebox.ply",
|
| 30 |
+
"calibration": {
|
| 31 |
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"instance": "LittleBox5",
|
| 32 |
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"rms_mm": 1.98
|
| 33 |
+
},
|
| 34 |
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"valid_pct": 98.8,
|
| 35 |
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"verified_pct": 98.8,
|
| 36 |
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"moving_pct": 25.58,
|
| 37 |
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"vision_source": null
|
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},
|
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{
|
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"name": "LittleBox6",
|
| 41 |
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"object_type": "LittleBox",
|
| 42 |
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"source": "mocap",
|
| 43 |
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"pose_frame": "mesh",
|
| 44 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
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"instance": "LittleBox6",
|
| 47 |
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"rms_mm": 1.52
|
| 48 |
+
},
|
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"valid_pct": 99.99,
|
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"verified_pct": 99.99,
|
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"moving_pct": 30.21,
|
| 52 |
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"vision_source": null
|
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},
|
| 54 |
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{
|
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"name": "Table",
|
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"object_type": "Table",
|
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"source": "mocap",
|
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"pose_frame": "rigid_body",
|
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"mesh": null,
|
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"calibration": null,
|
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|
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"verified_pct": 99.99,
|
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"moving_pct": 0.0,
|
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"vision_source": null
|
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}
|
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],
|
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"absent": [],
|
| 68 |
+
"object_list": {
|
| 69 |
+
"status": "corrected",
|
| 70 |
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"notes": [],
|
| 71 |
+
"declared": [
|
| 72 |
+
"LittleBox4",
|
| 73 |
+
"LittleBox5",
|
| 74 |
+
"LittleBox6",
|
| 75 |
+
"Table0"
|
| 76 |
+
],
|
| 77 |
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"listed": [
|
| 78 |
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{
|
| 79 |
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"name": "LittleBox4",
|
| 80 |
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"object": "LittleBox",
|
| 81 |
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"source": "mocap",
|
| 82 |
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"needs_video_check": false
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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"name": "LittleBox5",
|
| 86 |
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"object": "LittleBox",
|
| 87 |
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"source": "mocap",
|
| 88 |
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"needs_video_check": false
|
| 89 |
+
},
|
| 90 |
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{
|
| 91 |
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"name": "LittleBox6",
|
| 92 |
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"object": "LittleBox",
|
| 93 |
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"source": "mocap",
|
| 94 |
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"needs_video_check": false
|
| 95 |
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},
|
| 96 |
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{
|
| 97 |
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"name": "Table",
|
| 98 |
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"object": null,
|
| 99 |
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"source": "mocap",
|
| 100 |
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"needs_video_check": false
|
| 101 |
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}
|
| 102 |
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]
|
| 103 |
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},
|
| 104 |
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"notes": []
|
| 105 |
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}
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