Release update 2026-11-05: new sessions, instructions, annotations (part 267)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
- actions/locomanipulation/LM29/session_030/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM29/session_030/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM29/session_030/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM29/session_031/cameras/poses.npz +3 -0
- actions/locomanipulation/LM29/session_031/meta.json +538 -0
- actions/locomanipulation/LM29/session_031/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM29/session_031/motions/markers.npz +3 -0
- actions/locomanipulation/LM29/session_031/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM29/session_031/motions/objects.json +60 -0
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- actions/locomanipulation/LM29/session_031/raw/audio.wav +3 -0
- actions/locomanipulation/LM29/session_031/raw/manifest.json +308 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/Lowstep.csv +0 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/Lowstep.trc +0 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM29/session_031/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM29/session_031/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM29/session_031/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM29/session_031/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM29/session_031/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM29/session_031/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM29/session_031/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM29/session_031/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM29/session_031/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM29/session_031/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM29/session_031/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM29/session_031/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM29/session_031/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM29/session_031/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM29/session_031/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM29/session_031/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM29/session_031/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM29/session_031/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM29/session_031/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM29/session_031/videos/third_person.mp4 +3 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261030/LM29/20261030_050258_session60",
|
| 4 |
+
"session_id": "20261030_050258_session60",
|
| 5 |
+
"primitive": "LM29",
|
| 6 |
+
"batch": "20261030",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:46:21.054006+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": 134.95833333333334,
|
| 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": -0.093698,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9838,
|
| 32 |
+
"reference_imu_first_sample_s": 15144.391674719,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9974432274363447,
|
| 36 |
+
"drift_ppm": -414.9733660525144,
|
| 37 |
+
"drift_se_ppm": 241.22155898621475,
|
| 38 |
+
"drift_ms_over_take": -56.00065574878681,
|
| 39 |
+
"lag_scatter_ms": 26.33258626733995,
|
| 40 |
+
"lag_range_ms": 108.6051966154492
|
| 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": 27249,
|
| 76 |
+
"n_gyro": 27244,
|
| 77 |
+
"t_start": -0.10064696756399771,
|
| 78 |
+
"t_end": 135.1479605294362
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27120,
|
| 82 |
+
"n_gyro": 27113,
|
| 83 |
+
"t_start": 0.004323866435689161,
|
| 84 |
+
"t_end": 135.32289529543505
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 27397,
|
| 88 |
+
"n_gyro": 27396,
|
| 89 |
+
"t_start": -0.9227718505635579,
|
| 90 |
+
"t_end": 134.12818282043645
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27227,
|
| 94 |
+
"n_gyro": 27227,
|
| 95 |
+
"t_start": -0.802206714563917,
|
| 96 |
+
"t_end": 134.1248406894365
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13541,
|
| 100 |
+
"t_start": 0.08802257443584549,
|
| 101 |
+
"t_end": 135.48799780543504
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13504,
|
| 105 |
+
"t_start": -0.9100926655637608,
|
| 106 |
+
"t_end": 134.12006938743525
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13492,
|
| 110 |
+
"t_start": -0.7909097035635654,
|
| 111 |
+
"t_end": 134.11956119443585
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 15144.522677,
|
| 118 |
+
"frames": 4048,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03985908887897549,
|
| 124 |
+
"t_end": 134.93995908887973,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 15144.522658,
|
| 131 |
+
"frames": 4048,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03965232351310133,
|
| 137 |
+
"t_end": 134.9397303235137,
|
| 138 |
+
"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 15144.522671,
|
| 144 |
+
"frames": 4048,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.039971308645354475,
|
| 150 |
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"t_end": 134.94006030864603,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
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"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 15144.522683,
|
| 157 |
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"frames": 4048,
|
| 158 |
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"pts_gaps": 0,
|
| 159 |
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"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03990603192777653,
|
| 163 |
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"t_end": 134.94000603192853,
|
| 164 |
+
"clock": "device",
|
| 165 |
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"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 15144.522666,
|
| 170 |
+
"frames": 4048,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
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"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.03968782352693834,
|
| 176 |
+
"t_end": 134.9397768235276,
|
| 177 |
+
"clock": "device",
|
| 178 |
+
"calibrated": true
|
| 179 |
+
},
|
| 180 |
+
"right_eye": {
|
| 181 |
+
"fps": 30.0,
|
| 182 |
+
"start_device_s": 15144.522649,
|
| 183 |
+
"frames": 4048,
|
| 184 |
+
"pts_gaps": 0,
|
| 185 |
+
"timing": "pts",
|
| 186 |
+
"timeshift_cam_imu_s": 0.002315656053021164,
|
| 187 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
+
"t_start": 0.03959209348885506,
|
| 189 |
+
"t_end": 134.93965909348935,
|
| 190 |
+
"clock": "device",
|
| 191 |
+
"calibrated": true
|
| 192 |
+
},
|
| 193 |
+
"wrist_left": {
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"start_device_s": 15143.679548,
|
| 196 |
+
"frames": 4047,
|
| 197 |
+
"pts_gaps": 0,
|
| 198 |
+
"timing": "pts",
|
| 199 |
+
"timeshift_cam_imu_s": null,
|
| 200 |
+
"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
|
| 201 |
+
"t_start": -0.805824562564348,
|
| 202 |
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"t_end": 134.06129743743531,
|
| 203 |
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"clock": "device",
|
| 204 |
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"calibrated": false
|
| 205 |
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},
|
| 206 |
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"wrist_right": {
|
| 207 |
+
"fps": 30.0,
|
| 208 |
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"start_device_s": 15143.549797,
|
| 209 |
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"frames": 4051,
|
| 210 |
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"pts_gaps": 0,
|
| 211 |
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"timing": "pts",
|
| 212 |
+
"timeshift_cam_imu_s": null,
|
| 213 |
+
"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
|
| 214 |
+
"t_start": -0.9355755625647447,
|
| 215 |
+
"t_end": 134.06455443743562,
|
| 216 |
+
"clock": "device",
|
| 217 |
+
"calibrated": false
|
| 218 |
+
},
|
| 219 |
+
"third_person": {
|
| 220 |
+
"file": "mocap/mocap-LM29-S02-huruoxuan-01p2-1.mp4",
|
| 221 |
+
"frames": 4049,
|
| 222 |
+
"fps": 30.0,
|
| 223 |
+
"clock": "nokov (frame index)",
|
| 224 |
+
"t_start": 0.0,
|
| 225 |
+
"t_end": 134.93333333333334
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
+
},
|
| 229 |
+
"flags": [],
|
| 230 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
+
"rig_tracker": {
|
| 232 |
+
"definition": "e3296774a321bb51/20261030-morning/labels-235140/session-f64054bc7565c3a3",
|
| 233 |
+
"R_tracker0_imu0": [
|
| 234 |
+
[
|
| 235 |
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-0.6284838,
|
| 236 |
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0.27332316,
|
| 237 |
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-0.72821876
|
| 238 |
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],
|
| 239 |
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[
|
| 240 |
+
0.77733538,
|
| 241 |
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0.25384248,
|
| 242 |
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-0.57559856
|
| 243 |
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],
|
| 244 |
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[
|
| 245 |
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0.02752844,
|
| 246 |
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-0.92782458,
|
| 247 |
+
-0.37199965
|
| 248 |
+
]
|
| 249 |
+
],
|
| 250 |
+
"p_tracker0_imu0_m": [
|
| 251 |
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-0.14996611933667556,
|
| 252 |
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0.1967088205528148,
|
| 253 |
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-0.03908953590198868
|
| 254 |
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],
|
| 255 |
+
"rig_check": {
|
| 256 |
+
"gyro_samples": 5918,
|
| 257 |
+
"gyro_max_deg": 2.5,
|
| 258 |
+
"status": "video_solve",
|
| 259 |
+
"dropped_marker": null,
|
| 260 |
+
"gyro_deg": 0.104,
|
| 261 |
+
"video_solve": {
|
| 262 |
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"status": "ok",
|
| 263 |
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"reason": "",
|
| 264 |
+
"reprojection_px": 3.302,
|
| 265 |
+
"n_assoc": 247,
|
| 266 |
+
"gyro_deg": 0.104
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 270 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 271 |
+
},
|
| 272 |
+
"canonical": {
|
| 273 |
+
"generated_at_utc": "2026-11-03T09:17:49.123253+00:00",
|
| 274 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 275 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 276 |
+
"R_canon_nokov": [
|
| 277 |
+
[
|
| 278 |
+
0.9999994811,
|
| 279 |
+
-0.0010186764,
|
| 280 |
+
-5.0019e-06
|
| 281 |
+
],
|
| 282 |
+
[
|
| 283 |
+
5.0019e-06,
|
| 284 |
+
0.0098201105,
|
| 285 |
+
-0.9999517815
|
| 286 |
+
],
|
| 287 |
+
[
|
| 288 |
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0.0010186764,
|
| 289 |
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0.9999512627,
|
| 290 |
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0.0098201105
|
| 291 |
+
]
|
| 292 |
+
],
|
| 293 |
+
"scale_nokov_to_canon": 0.001,
|
| 294 |
+
"T_canon_nokov_mm": [
|
| 295 |
+
[
|
| 296 |
+
0.000999999481,
|
| 297 |
+
-1.018676e-06,
|
| 298 |
+
-5.002e-09,
|
| 299 |
+
0.0
|
| 300 |
+
],
|
| 301 |
+
[
|
| 302 |
+
5.002e-09,
|
| 303 |
+
9.82011e-06,
|
| 304 |
+
-0.000999951782,
|
| 305 |
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0.0
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
1.018676e-06,
|
| 309 |
+
0.000999951263,
|
| 310 |
+
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| 1 |
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