Release update 2026-11-05: 5760 sessions, instructions, annotations (part 354)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +20 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261103/LM10/20261103_010437_session101",
|
| 4 |
+
"session_id": "20261103_010437_session101",
|
| 5 |
+
"primitive": "LM10",
|
| 6 |
+
"batch": "20261103",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T22:18:52.022180+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": 1,
|
| 21 |
+
"duration_s": 147.18333333333334,
|
| 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": -0.086424,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9738,
|
| 32 |
+
"reference_imu_first_sample_s": 2017.563265792,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9677153172303138,
|
| 36 |
+
"drift_ppm": 0.6567381368176267,
|
| 37 |
+
"drift_se_ppm": 9.477180760168649,
|
| 38 |
+
"drift_ms_over_take": 0.09666090810394101,
|
| 39 |
+
"lag_scatter_ms": 1.1760872031775644,
|
| 40 |
+
"lag_range_ms": 3.9788224486388133
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 29583,
|
| 76 |
+
"n_gyro": 29577,
|
| 77 |
+
"t_start": -0.10173998344570163,
|
| 78 |
+
"t_end": 147.3694459295543
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 29528,
|
| 82 |
+
"n_gyro": 29522,
|
| 83 |
+
"t_start": 0.005264766554285689,
|
| 84 |
+
"t_end": 147.5315223865541
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29130,
|
| 88 |
+
"n_gyro": 29142,
|
| 89 |
+
"t_start": -0.8052255444459084,
|
| 90 |
+
"t_end": 146.26060617255413
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 29085,
|
| 94 |
+
"n_gyro": 29095,
|
| 95 |
+
"t_start": -0.941035054445853,
|
| 96 |
+
"t_end": 146.2612204535544
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14761,
|
| 100 |
+
"t_start": 0.09593768355417824,
|
| 101 |
+
"t_end": 147.69592571255404
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14706,
|
| 105 |
+
"t_start": -0.7941011694458999,
|
| 106 |
+
"t_end": 146.25496441455422
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14719,
|
| 110 |
+
"t_start": -0.9223182544458601,
|
| 111 |
+
"t_end": 146.2573961035541
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2017.687768,
|
| 118 |
+
"frames": 4415,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.032087404352945034,
|
| 124 |
+
"t_end": 147.165443404353,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2017.687709,
|
| 131 |
+
"frames": 4415,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03163498019986337,
|
| 137 |
+
"t_end": 147.16496798019986,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 2017.687748,
|
| 144 |
+
"frames": 4415,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03154213879289573,
|
| 150 |
+
"t_end": 147.16488613879298,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
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},
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| 342 |
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"rig_zup.npz",
|
| 343 |
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]
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| 345 |
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},
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"generated_by": "scripts/fit_smplx_dataset.py",
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"file": "smplx.npz",
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"gender": "male",
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| 352 |
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"betas_source": "participant median (derived/smplx/participants.json)",
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 355 |
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| 356 |
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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|
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|
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|
| 389 |
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},
|
| 390 |
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|
| 391 |
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"LKnee 34mm",
|
| 392 |
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"LKneeIn 33mm",
|
| 393 |
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"RThigh 10mm",
|
| 394 |
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"RKneeIn 10mm",
|
| 395 |
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"LThigh 8mm"
|
| 396 |
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],
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| 397 |
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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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"status": "corrected",
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+
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+
2.09632,
|
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|
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],
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|
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| 428 |
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|
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|
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+
},
|
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"LHandOut"
|
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],
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-3.4,
|
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2.3
|
| 444 |
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]
|
| 445 |
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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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| 456 |
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1.6389,
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0.39526
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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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3.1
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]
|
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},
|
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|
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|
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"RForearm",
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|
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|
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]
|
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},
|
| 496 |
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|
| 497 |
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},
|
| 498 |
+
"generated_at_utc": "2026-11-04T06:02:37.772106+00:00",
|
| 499 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 500 |
+
}
|
| 501 |
+
},
|
| 502 |
+
"release": {
|
| 503 |
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"release_path": "actions/locomanipulation/LM10/session_047",
|
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"family": "locomanipulation",
|
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"primitive": "LM10",
|
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"source_session": "20261103/LM10/20261103_010437_session101"
|
| 507 |
+
},
|
| 508 |
+
"task": {
|
| 509 |
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"primitive": "LM10",
|
| 510 |
+
"instruction": "Take an object out of the bin at knee height, carry it across the room, and place it on the chest-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 511 |
+
},
|
| 512 |
+
"objects": [
|
| 513 |
+
{
|
| 514 |
+
"name": "LittleBox4",
|
| 515 |
+
"object_type": "LittleBox",
|
| 516 |
+
"source": "mocap",
|
| 517 |
+
"pose_frame": "mesh"
|
| 518 |
+
},
|
| 519 |
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{
|
| 520 |
+
"name": "LittleBox5",
|
| 521 |
+
"object_type": "LittleBox",
|
| 522 |
+
"source": "mocap",
|
| 523 |
+
"pose_frame": "mesh"
|
| 524 |
+
},
|
| 525 |
+
{
|
| 526 |
+
"name": "LittleBox6",
|
| 527 |
+
"object_type": "LittleBox",
|
| 528 |
+
"source": "mocap",
|
| 529 |
+
"pose_frame": "mesh"
|
| 530 |
+
},
|
| 531 |
+
{
|
| 532 |
+
"name": "Table",
|
| 533 |
+
"object_type": "Table",
|
| 534 |
+
"source": "mocap",
|
| 535 |
+
"pose_frame": "rigid_body"
|
| 536 |
+
}
|
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