Release update 2026-11-05: new sessions, instructions, annotations (part 46)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +20 -0
- actions/locomanipulation/LM46/session_026/raw/mocap/Body0.csv +3 -0
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- actions/locomanipulation/LM46/session_026/sensors/head_imu.npz +3 -0
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- actions/locomanipulation/LM46/session_026/videos/frame_timestamps.npz +3 -0
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size 48054709
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actions/locomanipulation/LM46/session_027/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:34a2b374bd63ce3da5fd12a77396394369b08b800ad6e9a5425adaa59c69273e
|
| 3 |
+
size 980191
|
actions/locomanipulation/LM46/session_027/meta.json
ADDED
|
@@ -0,0 +1,536 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261103/LM46/20261103_073928_session197",
|
| 4 |
+
"session_id": "20261103_073928_session197",
|
| 5 |
+
"primitive": "LM46",
|
| 6 |
+
"batch": "20261103",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T22:19:36.027546+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": 111.725,
|
| 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": -0.078867,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.908,
|
| 32 |
+
"reference_imu_first_sample_s": 25709.336030546,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.947906735133903,
|
| 36 |
+
"drift_ppm": -496.7214245284613,
|
| 37 |
+
"drift_se_ppm": 310.9699252307167,
|
| 38 |
+
"drift_ms_over_take": -55.492061810237935,
|
| 39 |
+
"lag_scatter_ms": 25.263316152611157,
|
| 40 |
+
"lag_range_ms": 100.19271955928859
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 22471,
|
| 76 |
+
"n_gyro": 22464,
|
| 77 |
+
"t_start": -0.09539493788426412,
|
| 78 |
+
"t_end": 111.92680315711667
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 22431,
|
| 82 |
+
"n_gyro": 22425,
|
| 83 |
+
"t_start": 0.01865114611908425,
|
| 84 |
+
"t_end": 112.0920896461187
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 22541,
|
| 88 |
+
"n_gyro": 22540,
|
| 89 |
+
"t_start": -0.7770631638838655,
|
| 90 |
+
"t_end": 110.61522215511766
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 22005,
|
| 94 |
+
"n_gyro": 22005,
|
| 95 |
+
"t_start": -0.7836963598808485,
|
| 96 |
+
"t_end": 110.61693607611713
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 11214,
|
| 100 |
+
"t_start": 0.12117168711600457,
|
| 101 |
+
"t_end": 112.25116865711723
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
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"n": 11138,
|
| 105 |
+
"t_start": -0.7595282008830669,
|
| 106 |
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"t_end": 110.60997061711649
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 11139,
|
| 110 |
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"t_start": -0.7701836298826653,
|
| 111 |
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"t_end": 110.60961352311759
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 25709.451241,
|
| 118 |
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"frames": 3351,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.03868540291412714,
|
| 124 |
+
"t_end": 111.70541840291233,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 25709.451186,
|
| 131 |
+
"frames": 3351,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
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[
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0.0
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0.0,
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0.0,
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},
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},
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"rig_zup.npz",
|
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|
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]
|
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},
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"file": "smplx.npz",
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"gender": "female",
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|
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"betas_source": "participant median (derived/smplx/participants.json)",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
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0.0043450393714010715
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|
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}
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|
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|
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|
| 389 |
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},
|
| 390 |
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|
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"LShin 45mm",
|
| 392 |
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"LThigh 32mm",
|
| 393 |
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"RShin 22mm",
|
| 394 |
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"RKneeIn 22mm",
|
| 395 |
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"STRN 21mm"
|
| 396 |
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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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"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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-10.2,
|
| 443 |
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8.3
|
| 444 |
+
]
|
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},
|
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|
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|
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"LWristOut"
|
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]
|
| 452 |
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},
|
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},
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|
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|
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0.16952
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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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-16.4,
|
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10.2
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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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"generated_at_utc": "2026-11-04T06:06:35.227339+00:00",
|
| 497 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 498 |
+
}
|
| 499 |
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},
|
| 500 |
+
"release": {
|
| 501 |
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"release_path": "actions/locomanipulation/LM46/session_027",
|
| 502 |
+
"family": "locomanipulation",
|
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"primitive": "LM46",
|
| 504 |
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"source_session": "20261103/LM46/20261103_073928_session197"
|
| 505 |
+
},
|
| 506 |
+
"task": {
|
| 507 |
+
"primitive": "LM46",
|
| 508 |
+
"instruction": "Take the boxes off the top, get the one from the bottom, carry it away, then put the others back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 509 |
+
},
|
| 510 |
+
"objects": [
|
| 511 |
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{
|
| 512 |
+
"name": "LittleBox4",
|
| 513 |
+
"object_type": "LittleBox",
|
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