Release update 2026-11-05: new sessions, instructions, annotations (part 154)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
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| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261023/LM77/20261023_024415_session33",
|
| 4 |
+
"session_id": "20261023_024415_session33",
|
| 5 |
+
"primitive": "LM77",
|
| 6 |
+
"batch": "20261023",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:41:13.294668+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": 130.925,
|
| 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": -0.089246,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9842,
|
| 32 |
+
"reference_imu_first_sample_s": 8569.081271455,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9807508560302396,
|
| 36 |
+
"drift_ppm": -34.38888426299005,
|
| 37 |
+
"drift_se_ppm": 15.545818004659258,
|
| 38 |
+
"drift_ms_over_take": -4.5020780980964465,
|
| 39 |
+
"lag_scatter_ms": 1.6970356854689372,
|
| 40 |
+
"lag_range_ms": 7.871980879122886
|
| 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": 26642,
|
| 76 |
+
"n_gyro": 26636,
|
| 77 |
+
"t_start": -0.09614393705929078,
|
| 78 |
+
"t_end": 131.13168310393954
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26479,
|
| 82 |
+
"n_gyro": 26472,
|
| 83 |
+
"t_start": 0.0071384379399623,
|
| 84 |
+
"t_end": 131.29428110094082
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25915,
|
| 88 |
+
"n_gyro": 25929,
|
| 89 |
+
"t_start": -0.7905154350599825,
|
| 90 |
+
"t_end": 130.0822174009401
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25841,
|
| 94 |
+
"n_gyro": 25841,
|
| 95 |
+
"t_start": -0.7480408270592799,
|
| 96 |
+
"t_end": 130.07583512594024
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13138,
|
| 100 |
+
"t_start": 0.09100106294058233,
|
| 101 |
+
"t_end": 131.46099679193972
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13087,
|
| 105 |
+
"t_start": -0.7816558850598577,
|
| 106 |
+
"t_end": 130.0780535359401
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
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"n": 13082,
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"primitive": "LM77",
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"instruction": "Carry the box over and put it on the shelf with the label facing out towards you. Get the orientation right, not just the position. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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"name": "OpenBox",
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"source": "mocap",
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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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"instance": "LittleBox2",
|
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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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|
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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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"mesh": "objects/LittleBox/littlebox.ply",
|
| 72 |
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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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|
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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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|
| 126 |
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|
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|
| 128 |
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|
| 129 |
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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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|
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{
|
| 149 |
+
"name": "LittleBox3",
|
| 150 |
+
"object": "LittleBox",
|
| 151 |
+
"source": "mocap",
|
| 152 |
+
"needs_video_check": false
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"name": "LittleBox4",
|
| 156 |
+
"object": "LittleBox",
|
| 157 |
+
"source": "mocap",
|
| 158 |
+
"needs_video_check": false
|
| 159 |
+
},
|
| 160 |
+
{
|
| 161 |
+
"name": "LittleBox5",
|
| 162 |
+
"object": "LittleBox",
|
| 163 |
+
"source": "mocap",
|
| 164 |
+
"needs_video_check": false
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"name": "LittleBox6",
|
| 168 |
+
"object": "LittleBox",
|
| 169 |
+
"source": "mocap",
|
| 170 |
+
"needs_video_check": false
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"name": "OpenBox",
|
| 174 |
+
"object": "OpenBox",
|
| 175 |
+
"source": "mocap",
|
| 176 |
+
"needs_video_check": false
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"name": "Table2",
|
| 180 |
+
"object": null,
|
| 181 |
+
"source": "mocap",
|
| 182 |
+
"needs_video_check": false
|
| 183 |
+
}
|
| 184 |
+
]
|
| 185 |
+
},
|
| 186 |
+
"notes": []
|
| 187 |
+
}
|
actions/locomanipulation/LM77/session_012/motions/objects.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:b797f56101b59f13196035be646f2c6167362a8afd7807cf9887cc2e6a5c7846
|
| 3 |
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size 4850249
|
actions/locomanipulation/LM77/session_012/motions/skeleton.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f1a7fb170a827e81338e37a9033cc09501d78b71a7599938eb2e2801a79b20dc
|
| 3 |
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size 9166854
|