Release update 2026-11-05: new sessions, instructions, annotations (part 24)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomanipulation/LM44/session_016/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM44/session_016/raw/mocap/Tracker0.trc +0 -0
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- actions/locomanipulation/LM44/session_016/raw/sensors/robocap_mag_middle.db +3 -0
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- actions/locomanipulation/LM44/session_016/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM44/session_016/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM44/session_016/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM44/session_016/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM44/session_016/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM44/session_016/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM44/session_016/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM44/session_016/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM44/session_016/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM44/session_016/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM44/session_017/cameras/poses.npz +3 -0
- actions/locomanipulation/LM44/session_017/meta.json +692 -0
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- actions/locomanipulation/LM44/session_017/raw/audio.wav +3 -0
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.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM44/20261029_075427_session20",
|
| 4 |
+
"session_id": "20261029_075427_session20",
|
| 5 |
+
"primitive": "LM44",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "75b5984e04d1d236",
|
| 12 |
+
"right": "c84bc808cb6b47af"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:37:45.745237+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": 105.825,
|
| 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": -0.080421,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9959,
|
| 32 |
+
"reference_imu_first_sample_s": 5689.821306858,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 9,
|
| 35 |
+
"window_corr_median": 0.9968699234361014,
|
| 36 |
+
"drift_ppm": -1.3521712975922502,
|
| 37 |
+
"drift_se_ppm": 2.3555638611495784,
|
| 38 |
+
"drift_ms_over_take": -0.14308225947355327,
|
| 39 |
+
"lag_scatter_ms": 0.16091564607515613,
|
| 40 |
+
"lag_range_ms": 0.5309035454282018
|
| 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": 21377,
|
| 76 |
+
"n_gyro": 21371,
|
| 77 |
+
"t_start": -0.08736894022890428,
|
| 78 |
+
"t_end": 106.01256587577141
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 21275,
|
| 82 |
+
"n_gyro": 21268,
|
| 83 |
+
"t_start": 0.02480785177145063,
|
| 84 |
+
"t_end": 106.17516302277078
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 21137,
|
| 88 |
+
"n_gyro": 21138,
|
| 89 |
+
"t_start": -0.7509145622290331,
|
| 90 |
+
"t_end": 104.40420087477092
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 21336,
|
| 94 |
+
"n_gyro": 21348,
|
| 95 |
+
"t_start": -0.8518187482287854,
|
| 96 |
+
"t_end": 104.4089205857707
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 10623,
|
| 100 |
+
"t_start": 0.12266214377073394,
|
| 101 |
+
"t_end": 106.3426575277707
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 10515,
|
| 105 |
+
"t_start": -0.7389567922292796,
|
| 106 |
+
"t_end": 104.4009850577712
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 10525,
|
| 110 |
+
"t_start": -0.8387572962293658,
|
| 111 |
+
"t_end": 104.40145603477127
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 5689.938968,
|
| 118 |
+
"frames": 3174,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
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|
| 503 |
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],
|
| 504 |
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|
| 505 |
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|
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|
| 507 |
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|
| 508 |
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|
| 509 |
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-2.9,
|
| 510 |
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4.5
|
| 511 |
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|
| 512 |
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|
| 513 |
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|
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|
| 515 |
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"RForearm",
|
| 516 |
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|
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|
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|
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|
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|
| 522 |
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"release_path": "actions/locomanipulation/LM44/session_017",
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"task": {
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"primitive": "LM44",
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"instruction": "Take boxes off the top of the stack one at a time and carry them away, walking back for each one. 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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"objects": [
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{
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"pose_frame": "mesh"
|
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"name": "LittleBox3",
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},
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{
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"name": "LittleBox6",
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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": "Table",
|
| 687 |
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"object_type": "Table",
|
| 688 |
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"source": "mocap",
|
| 689 |
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"pose_frame": "rigid_body"
|
| 690 |
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}
|
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]
|
| 692 |
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}
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"held_by": "from mocap hands",
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"instances": [
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{
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"name": "LittleBox1",
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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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"source": "mocap",
|
| 25 |
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
| 28 |
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"instance": "LittleBox2",
|
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"rms_mm": 0.6
|
| 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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"vision_source": null
|
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},
|
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{
|
| 37 |
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"name": "LittleBox3",
|
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"object_type": "LittleBox",
|
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"source": "mocap",
|
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
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"instance": "LittleBox3",
|
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"rms_mm": 0.52
|
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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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"name": "LittleBox5",
|
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"object_type": "LittleBox",
|
| 69 |
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"source": "mocap",
|
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"pose_frame": "mesh",
|
| 71 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 72 |
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|
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"instance": "LittleBox5",
|
| 74 |
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"rms_mm": 2.23
|
| 75 |
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|
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|
| 77 |
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|
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|
| 79 |
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|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"name": "LittleBox6",
|
| 83 |
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"object_type": "LittleBox",
|
| 84 |
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"source": "mocap",
|
| 85 |
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"pose_frame": "mesh",
|
| 86 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 87 |
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"calibration": {
|
| 88 |
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"instance": "LittleBox6",
|
| 89 |
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|
| 90 |
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},
|
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"valid_pct": 99.4,
|
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"verified_pct": 99.4,
|
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|
| 94 |
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|
| 95 |
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},
|
| 96 |
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{
|
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"name": "Table",
|
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"object_type": "Table",
|
| 99 |
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"source": "mocap",
|
| 100 |
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"pose_frame": "rigid_body",
|
| 101 |
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"mesh": null,
|
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