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 +9 -0
- actions/locomanipulation/LM15/session_051/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM15/session_051/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM15/session_051/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM15/session_051/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM15/session_052/cameras/poses.npz +3 -0
- actions/locomanipulation/LM15/session_052/meta.json +545 -0
- actions/locomanipulation/LM15/session_052/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM15/session_052/motions/markers.npz +3 -0
- actions/locomanipulation/LM15/session_052/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM15/session_052/motions/objects.json +52 -0
- actions/locomanipulation/LM15/session_052/motions/objects.npz +3 -0
- actions/locomanipulation/LM15/session_052/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM15/session_052/motions/smplx.npz +3 -0
- actions/locomanipulation/LM15/session_052/raw/audio.wav +3 -0
- actions/locomanipulation/LM15/session_052/raw/manifest.json +308 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/LittleBox5.csv +0 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/LittleBox5.trc +0 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM15/session_052/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM15/session_052/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM15/session_052/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM15/session_052/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM15/session_052/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM15/session_052/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM15/session_052/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM15/session_052/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM15/session_052/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM15/session_052/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM15/session_052/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM15/session_052/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM15/session_052/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM15/session_052/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM15/session_052/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM15/session_052/videos/head_right_front.mp4 +3 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM15/20261028_083523_session83",
|
| 4 |
+
"session_id": "20261028_083523_session83",
|
| 5 |
+
"primitive": "LM15",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T20:02:12.309778+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": 130.025,
|
| 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": -0.093878,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9946,
|
| 32 |
+
"reference_imu_first_sample_s": 28220.995144127,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9934911252457784,
|
| 36 |
+
"drift_ppm": 1.0279110174213928,
|
| 37 |
+
"drift_se_ppm": 2.4907919707878,
|
| 38 |
+
"drift_ms_over_take": 0.13364556411507142,
|
| 39 |
+
"lag_scatter_ms": 0.2719035343292665,
|
| 40 |
+
"lag_range_ms": 1.0292878936291883
|
| 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": 26256,
|
| 76 |
+
"n_gyro": 26250,
|
| 77 |
+
"t_start": -0.10083398777785711,
|
| 78 |
+
"t_end": 130.21883548022308
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26130,
|
| 82 |
+
"n_gyro": 26124,
|
| 83 |
+
"t_start": 0.004802429222057106,
|
| 84 |
+
"t_end": 130.3831831412201
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26401,
|
| 88 |
+
"n_gyro": 26400,
|
| 89 |
+
"t_start": -0.8305388297783584,
|
| 90 |
+
"t_end": 129.3010618242217
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26245,
|
| 94 |
+
"n_gyro": 26260,
|
| 95 |
+
"t_start": -0.745569318777395,
|
| 96 |
+
"t_end": 129.30009601122148
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13047,
|
| 100 |
+
"t_start": 0.0879148872220167,
|
| 101 |
+
"t_end": 130.5479024082226
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13012,
|
| 105 |
+
"t_start": -0.8128060607785091,
|
| 106 |
+
"t_end": 129.29748208622115
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13004,
|
| 110 |
+
"t_start": -0.7332373307770258,
|
| 111 |
+
"t_end": 129.29666227622076
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 28221.126513,
|
| 118 |
+
"frames": 3900,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040045791665054856,
|
| 124 |
+
"t_end": 130.00662379166462,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 28221.126476,
|
| 131 |
+
"frames": 3900,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03982102630036301,
|
| 137 |
+
"t_end": 130.00639902629993,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 28221.126502,
|
| 144 |
+
"frames": 3900,
|
| 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": 0.04015301142792217,
|
| 150 |
+
"t_end": 130.0067200114274,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 28221.126524,
|
| 157 |
+
"frames": 3900,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.040097734715548575,
|
| 163 |
+
"t_end": 130.0066867347152,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 28221.126492,
|
| 170 |
+
"frames": 3898,
|
| 171 |
+
"pts_gaps": 2,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": 26.9,
|
| 177 |
+
"corr": 0.829,
|
| 178 |
+
"err_ms": 24.5
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 94.9,
|
| 182 |
+
"corr": 0.817,
|
| 183 |
+
"err_ms": 92.5
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.039864526311451334,
|
| 188 |
+
"t_end": 130.02308652631038,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 28221.126458,
|
| 195 |
+
"frames": 3900,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": 0.002315656053021164,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.03975179627306992,
|
| 201 |
+
"t_end": 130.00632979627264,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 28220.338602,
|
| 208 |
+
"frames": 3901,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.7504198597787554,
|
| 214 |
+
"t_end": 129.24951514022106,
|
| 215 |
+
"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 28220.252839,
|
| 221 |
+
"frames": 3904,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
+
"timeshift_cam_imu_s": null,
|
| 225 |
+
"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.8361828597778885,
|
| 227 |
+
"t_end": 129.26407714022136,
|
| 228 |
+
"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-LM15-S02-xiaobo-01p2-1.mp4",
|
| 233 |
+
"frames": 3901,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
+
"clock": "nokov (frame index)",
|
| 236 |
+
"t_start": 0.0,
|
| 237 |
+
"t_end": 130.0
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
+
"rig_tracker": {
|
| 244 |
+
"definition": "e3296774a321bb51/20261028-afternoon/labels-325140/session-3b511d00eee4c8b0",
|
| 245 |
+
"R_tracker0_imu0": [
|
| 246 |
+
[
|
| 247 |
+
-0.67942957,
|
| 248 |
+
0.31449934,
|
| 249 |
+
-0.66292203
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
0.73315972,
|
| 253 |
+
0.32693725,
|
| 254 |
+
-0.59631272
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
0.02919395,
|
| 258 |
+
-0.89118023,
|
| 259 |
+
-0.45270909
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
+
"p_tracker0_imu0_m": [
|
| 263 |
+
-0.16554110815191328,
|
| 264 |
+
-0.0053132118115908145,
|
| 265 |
+
-0.05244109299825595
|
| 266 |
+
],
|
| 267 |
+
"rig_check": {
|
| 268 |
+
"gyro_samples": 5734,
|
| 269 |
+
"gyro_max_deg": 2.5,
|
| 270 |
+
"status": "gyro_rotation",
|
| 271 |
+
"dropped_marker": null,
|
| 272 |
+
"gyro_deg": 0.0,
|
| 273 |
+
"video_solve": {
|
| 274 |
+
"status": "ok",
|
| 275 |
+
"reason": "",
|
| 276 |
+
"reprojection_px": 3.475,
|
| 277 |
+
"n_assoc": 337,
|
| 278 |
+
"gyro_deg": 2.993
|
| 279 |
+
}
|
| 280 |
+
},
|
| 281 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
+
},
|
| 284 |
+
"canonical": {
|
| 285 |
+
"generated_at_utc": "2026-10-30T18:45:30.697627+00:00",
|
| 286 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 287 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 288 |
+
"R_canon_nokov": [
|
| 289 |
+
[
|
| 290 |
+
0.9999849425,
|
| 291 |
+
0.0054876377,
|
| 292 |
+
2.47109e-05
|
| 293 |
+
],
|
| 294 |
+
[
|
| 295 |
+
-2.47109e-05,
|
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| 1 |
+
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| 2 |
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| 3 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 30 |
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| 31 |
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| 32 |
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| 35 |
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| 37 |
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| 38 |
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| 39 |
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| 41 |
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| 42 |
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