Release update 2026-11-05: new sessions, instructions, annotations (part 109)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +7 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox1.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox2.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox2.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox3.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox3.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox5.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox5.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox6.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/LittleBox6.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/OpenBox.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/OpenBox.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/Table2.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/Table2.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH08/session_020/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH08/session_020/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH08/session_020/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH08/session_020/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH08/session_020/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH08/session_020/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH08/session_020/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH08/session_020/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH08/session_020/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH08/session_020/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH08/session_020/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_020/videos/wrist_right.mp4 +3 -0
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- actions/long_horizon_composite/LH08/session_021/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH08/session_021/raw/manifest.json +484 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261023/LH08/20261023_010255_session7",
|
| 4 |
+
"session_id": "20261023_010255_session7",
|
| 5 |
+
"primitive": "LH08",
|
| 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": "2026-11-03T05:41:04.932631+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": 150.15833333333333,
|
| 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": -0.09456,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9792,
|
| 32 |
+
"reference_imu_first_sample_s": 2489.446921151,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9808426133576575,
|
| 36 |
+
"drift_ppm": -308.10039732645265,
|
| 37 |
+
"drift_se_ppm": 175.70582659167326,
|
| 38 |
+
"drift_ms_over_take": -46.261274658566876,
|
| 39 |
+
"lag_scatter_ms": 24.53598339614966,
|
| 40 |
+
"lag_range_ms": 109.02702892764407
|
| 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": 30546,
|
| 76 |
+
"n_gyro": 30540,
|
| 77 |
+
"t_start": -0.1014565362613229,
|
| 78 |
+
"t_end": 150.3556601117387
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 30357,
|
| 82 |
+
"n_gyro": 30351,
|
| 83 |
+
"t_start": 0.0050955887384571685,
|
| 84 |
+
"t_end": 150.52066159173847
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29777,
|
| 88 |
+
"n_gyro": 29789,
|
| 89 |
+
"t_start": -0.8966412192614388,
|
| 90 |
+
"t_end": 149.4595975817386
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 29683,
|
| 94 |
+
"n_gyro": 29693,
|
| 95 |
+
"t_start": -0.7963957732615217,
|
| 96 |
+
"t_end": 149.4589769887387
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 15059,
|
| 100 |
+
"t_start": 0.10508312973870315,
|
| 101 |
+
"t_end": 150.68499207673887
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 15034,
|
| 105 |
+
"t_start": -0.8776940872614449,
|
| 106 |
+
"t_end": 149.4526671837387
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 15024,
|
| 110 |
+
"t_start": -0.7778987552612324,
|
| 111 |
+
"t_end": 149.4528796237385
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2489.578279,
|
| 118 |
+
"frames": 4504,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03942625538574984,
|
| 124 |
+
"t_end": 150.13928225538558,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2489.578231,
|
| 131 |
+
"frames": 4504,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03916793435455301,
|
| 137 |
+
"t_end": 150.13903493435447,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 2489.578264,
|
| 144 |
+
"frames": 4504,
|
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]
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"gender": "male",
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},
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"LKneeIn 13mm",
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| 402 |
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"CLAV 10mm",
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| 403 |
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"LElbowIn 10mm",
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| 404 |
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"WaistLSide 10mm",
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| 405 |
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"RKneeIn 10mm"
|
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],
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},
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},
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|
| 419 |
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},
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| 422 |
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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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|
| 475 |
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|
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|
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|
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},
|
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],
|
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3.3
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]
|
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},
|
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|
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|
| 498 |
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"RForearm"
|
| 499 |
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]
|
| 500 |
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},
|
| 501 |
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"frames_used": 1500
|
| 502 |
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},
|
| 503 |
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"generated_at_utc": "2026-11-03T09:27:10.755428+00:00",
|
| 504 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 505 |
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}
|
| 506 |
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},
|
| 507 |
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"release": {
|
| 508 |
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"release_path": "actions/long_horizon_composite/LH08/session_021",
|
| 509 |
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"family": "long_horizon_composite",
|
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"primitive": "LH08",
|
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"source_session": "20261023/LH08/20261023_010255_session7"
|
| 512 |
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},
|
| 513 |
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"task": {
|
| 514 |
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"primitive": "LH08",
|
| 515 |
+
"instruction": "1. Read the parts list. 2. Collect each part from the bins around the room. 3. Lay them out on the table in the order on the list. 4. Put them all in the carry case. 5. Tell the operator when you are finished."
|
| 516 |
+
},
|
| 517 |
+
"objects": [
|
| 518 |
+
{
|
| 519 |
+
"name": "BigBox",
|
| 520 |
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"object_type": "BigBox",
|
| 521 |
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"source": "mocap",
|
| 522 |
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"pose_frame": "mesh"
|
| 523 |
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},
|
| 524 |
+
{
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