Release update 2026-11-05: new sessions, instructions, annotations (part 33)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +35 -0
- actions/locomanipulation/LM86/session_035/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_035/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_035/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM86/session_035/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_035/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_035/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM86/session_035/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM86/session_035/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM86/session_035/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM86/session_035/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM86/session_035/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM86/session_035/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM86/session_035/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM86/session_035/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM86/session_036/cameras/poses.npz +3 -0
- actions/locomanipulation/LM86/session_036/meta.json +514 -0
- actions/locomanipulation/LM86/session_036/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM86/session_036/motions/markers.npz +3 -0
- actions/locomanipulation/LM86/session_036/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM86/session_036/motions/smplx.npz +3 -0
- actions/locomanipulation/LM86/session_036/raw/audio.wav +3 -0
- actions/locomanipulation/LM86/session_036/raw/manifest.json +263 -0
- actions/locomanipulation/LM86/session_036/raw/mocap/Body0.bvh +3 -0
- actions/locomanipulation/LM86/session_036/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM86/session_036/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM86/session_036/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM86/session_036/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM86/session_036/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_036/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_036/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM86/session_036/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM86/session_036/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM86/session_036/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM86/session_036/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM86/session_036/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM86/session_036/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM86/session_036/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM86/session_036/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM86/session_036/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM86/session_036/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM86/session_036/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM86/session_036/videos/head_left_front.mp4 +3 -0
.gitattributes
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| 3 |
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size 40248388
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actions/locomanipulation/LM86/session_036/cameras/poses.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:9a7e868e602f52f96f3ba32e12877adcd38816c5da4eccf9aef770cf09826c73
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| 3 |
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size 1409024
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actions/locomanipulation/LM86/session_036/meta.json
ADDED
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@@ -0,0 +1,514 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261030/LM86/20261030_015147_session12",
|
| 4 |
+
"session_id": "20261030_015147_session12",
|
| 5 |
+
"primitive": "LM86",
|
| 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": "2026-11-03T05:47:17.178808+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": 161.19166666666666,
|
| 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": -0.087843,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9937,
|
| 32 |
+
"reference_imu_first_sample_s": 3674.051074535,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 15,
|
| 35 |
+
"window_corr_median": 0.9939081343908069,
|
| 36 |
+
"drift_ppm": -4.0928202262057285,
|
| 37 |
+
"drift_se_ppm": 3.2343515290461595,
|
| 38 |
+
"drift_ms_over_take": -0.6596944067939268,
|
| 39 |
+
"lag_scatter_ms": 0.5038395810899429,
|
| 40 |
+
"lag_range_ms": 2.0304592776427546
|
| 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": 32538,
|
| 76 |
+
"n_gyro": 32532,
|
| 77 |
+
"t_start": -0.09479227735158757,
|
| 78 |
+
"t_end": 161.40141943064833
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 32377,
|
| 82 |
+
"n_gyro": 32370,
|
| 83 |
+
"t_start": 0.02360730564856739,
|
| 84 |
+
"t_end": 161.5680818726483
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 32713,
|
| 88 |
+
"n_gyro": 32725,
|
| 89 |
+
"t_start": -0.8901128743518149,
|
| 90 |
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"t_end": 160.3436549586482
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 32548,
|
| 94 |
+
"n_gyro": 32548,
|
| 95 |
+
"t_start": -0.9260074203515961,
|
| 96 |
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"t_end": 160.34657288064824
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 16162,
|
| 100 |
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"t_start": 0.12295868064853666,
|
| 101 |
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"t_end": 161.7329560916483
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 16122,
|
| 105 |
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"t_start": -0.8720796363517712,
|
| 106 |
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"t_end": 160.33801520664844
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 16126,
|
| 110 |
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"t_start": -0.9092713043514214,
|
| 111 |
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"t_end": 160.3403354306484
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 3674.17663,
|
| 118 |
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"frames": 4835,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.04026699809179435,
|
| 124 |
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"t_end": 161.1735449980916,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 3674.176584,
|
| 131 |
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"frames": 4835,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.04003323272541992,
|
| 137 |
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"t_end": 161.17333323272538,
|
| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
|
| 141 |
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"left_front": {
|
| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 3674.176618,
|
| 144 |
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"files": [
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|
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|
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|
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|
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"gender": "female",
|
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|
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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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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
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|
| 363 |
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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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|
| 394 |
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|
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|
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|
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|
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|
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|
| 401 |
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|
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|
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|
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|
| 405 |
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|
| 406 |
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|
| 407 |
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|
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|
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|
| 410 |
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|
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|
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|
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|
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|
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|
| 416 |
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|
| 417 |
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|
| 418 |
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|
| 419 |
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"shape_source": "participant median",
|
| 420 |
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|
| 421 |
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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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|
| 432 |
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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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|
| 473 |
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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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|
| 498 |
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|
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},
|
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"generated_at_utc": "2026-11-03T11:25:40.220558+00:00",
|
| 501 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 502 |
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}
|
| 503 |
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},
|
| 504 |
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"release": {
|
| 505 |
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"release_path": "actions/locomanipulation/LM86/session_036",
|
| 506 |
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"family": "locomanipulation",
|
| 507 |
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"primitive": "LM86",
|
| 508 |
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"source_session": "20261030/LM86/20261030_015147_session12"
|
| 509 |
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},
|
| 510 |
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"task": {
|
| 511 |
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"primitive": "LM86",
|
| 512 |
+
"instruction": "Carry the large panel across the room. It will block your view ahead, so take whatever route feels safe. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 513 |
+
}
|
| 514 |
+
}
|
actions/locomanipulation/LM86/session_036/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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version https://git-lfs.github.com/spec/v1
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oid sha256:8d0e99828caa6cc16b7e75288e60e0fdb26ab0a2e47424807a988be9ab58aa67
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