Release update 2026-11-05: new sessions, instructions, annotations (part 18)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomanipulation/LM43/session_021/raw/mocap/Body0.csv +3 -0
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- actions/locomanipulation/LM43/session_021/sensors/head_imu.npz +3 -0
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- actions/locomanipulation/LM43/session_021/videos/frame_timestamps.npz +3 -0
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actions/locomanipulation/LM43/session_021/videos/wrist_right.mp4
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actions/locomanipulation/LM43/session_022/cameras/poses.npz
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM43/session_022/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM43/20261029_091827_session120",
|
| 4 |
+
"session_id": "20261029_091827_session120",
|
| 5 |
+
"primitive": "LM43",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T22:31:49.292580+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": 88.59166666666667,
|
| 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": -0.082886,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9794,
|
| 32 |
+
"reference_imu_first_sample_s": 31524.526647841,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 7,
|
| 35 |
+
"window_corr_median": 0.9501414162267104,
|
| 36 |
+
"drift_ppm": 49.56298711484436,
|
| 37 |
+
"drift_se_ppm": 20.54697241848797,
|
| 38 |
+
"drift_ms_over_take": 4.3904546085899625,
|
| 39 |
+
"lag_scatter_ms": 0.9188885411910471,
|
| 40 |
+
"lag_range_ms": 3.669757458229783
|
| 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": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 18043,
|
| 76 |
+
"n_gyro": 18038,
|
| 77 |
+
"t_start": -0.09929401091106117,
|
| 78 |
+
"t_end": 88.77452313808568
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 17940,
|
| 82 |
+
"n_gyro": 17934,
|
| 83 |
+
"t_start": 0.013349697087297704,
|
| 84 |
+
"t_end": 88.96374036908561
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 17982,
|
| 88 |
+
"n_gyro": 17982,
|
| 89 |
+
"t_start": -0.9085967349139799,
|
| 90 |
+
"t_end": 87.94583630408921
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 17971,
|
| 94 |
+
"n_gyro": 17985,
|
| 95 |
+
"t_start": -0.8000529779139731,
|
| 96 |
+
"t_end": 87.94179724208767
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 8905,
|
| 100 |
+
"t_start": 0.090899780085939,
|
| 101 |
+
"t_end": 89.13088740608761
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 8884,
|
| 105 |
+
"t_start": -0.890976716910908,
|
| 106 |
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"t_end": 87.93933049608565
|
| 107 |
+
},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
+
"n": 8874,
|
| 110 |
+
"t_start": -0.7921143959112931,
|
| 111 |
+
"t_end": 87.93778750808885
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 31524.648165,
|
| 118 |
+
"frames": 2657,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.041259477732429536,
|
| 124 |
+
"t_end": 88.57448147773063,
|
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"task": {
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"primitive": "LM43",
|
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"instruction": "Bring the boxes over one at a time and stack them on top of each other, 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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"session": "20261029/LM43/20261029_091827_session120",
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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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"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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"name": "LittleBox2",
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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": "LittleBox2",
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"rms_mm": 0.51
|
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},
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"valid_pct": 99.99,
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"verified_pct": 99.99,
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|
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"vision_source": null
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},
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{
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"name": "LittleBox5",
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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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"instance": "LittleBox5",
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"rms_mm": 2.33
|
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},
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"valid_pct": 99.97,
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"vision_source": null
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{
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"name": "Table",
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"source": "mocap",
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}
|
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],
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"absent": [],
|
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"object_list": {
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"status": "corrected",
|
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"notes": [],
|
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"declared": [
|
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"LittleBox1",
|
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"LittleBox2",
|
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"LittleBox5",
|
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"Table0"
|
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],
|
| 74 |
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"listed": [
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{
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"name": "LittleBox1",
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"object": "LittleBox",
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"source": "mocap",
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|
| 80 |
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{
|
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"name": "LittleBox2",
|
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"object": "LittleBox",
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"source": "mocap",
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|
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},
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{
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"name": "LittleBox5",
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"object": "LittleBox",
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"source": "mocap",
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{
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|
| 101 |
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"notes": []
|
| 102 |
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}
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