Release update 2026-11-05: new sessions, instructions, annotations (part 83)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +10 -0
- actions/locomanipulation/LM53/session_004/raw/mocap/LittleBox5.trc +0 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM53/20261029_103717_session46",
|
| 4 |
+
"session_id": "20261029_103717_session46",
|
| 5 |
+
"primitive": "LM53",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:39:14.541611+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": 165.79166666666666,
|
| 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": -0.089206,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9975,
|
| 32 |
+
"reference_imu_first_sample_s": 8929.37709609,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 15,
|
| 35 |
+
"window_corr_median": 0.9982030887764178,
|
| 36 |
+
"drift_ppm": 5.917393256777845,
|
| 37 |
+
"drift_se_ppm": 2.900182708476135,
|
| 38 |
+
"drift_ms_over_take": 0.9810051787528203,
|
| 39 |
+
"lag_scatter_ms": 0.45178355778595314,
|
| 40 |
+
"lag_range_ms": 1.6861972592512875
|
| 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": 33460,
|
| 76 |
+
"n_gyro": 33454,
|
| 77 |
+
"t_start": -0.10072044888377046,
|
| 78 |
+
"t_end": 165.9760705431158
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 33296,
|
| 82 |
+
"n_gyro": 33290,
|
| 83 |
+
"t_start": 0.0038112311153564726,
|
| 84 |
+
"t_end": 166.13806447411613
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 33285,
|
| 88 |
+
"n_gyro": 33284,
|
| 89 |
+
"t_start": -0.895743639883698,
|
| 90 |
+
"t_end": 163.17497614711598
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 32998,
|
| 94 |
+
"n_gyro": 33000,
|
| 95 |
+
"t_start": -0.747800571884476,
|
| 96 |
+
"t_end": 162.77534673311627
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 16622,
|
| 100 |
+
"t_start": 0.08734135711481589,
|
| 101 |
+
"t_end": 166.2974293941147
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 16409,
|
| 105 |
+
"t_start": -0.877992514885158,
|
| 106 |
+
"t_end": 163.20220606511563
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 16352,
|
| 110 |
+
"t_start": -0.7358593448848514,
|
| 111 |
+
"t_end": 162.77428263011595
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 8929.503787,
|
| 118 |
+
"frames": 4973,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04003995955779477,
|
| 124 |
+
"t_end": 165.7735179595579,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 8929.503769,
|
| 131 |
+
"frames": 4973,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
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|
| 1 |
+
{
|
| 2 |
+
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| 3 |
+
"created_at_utc": "2026-10-29T17:29:48.231588+00:00",
|
| 4 |
+
"primitive_id": "LM53",
|
| 5 |
+
"session_id": "20261029_103717_session46",
|
| 6 |
+
"upload_batch_id": "20261029",
|
| 7 |
+
"dataset_path": "EgoMotionActions/20261029/LM53/20261029_103717_session46",
|
| 8 |
+
"segment": "auto/all",
|
| 9 |
+
"duration_s": 165.733478,
|
| 10 |
+
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|
| 11 |
+
"main": "e3296774a321bb51",
|
| 12 |
+
"left": "39042f5fb5da3b12",
|
| 13 |
+
"right": "65a3481473d6e2a0"
|
| 14 |
+
},
|
| 15 |
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"mocap_rigid_names": [
|
| 16 |
+
"Body0",
|
| 17 |
+
"LittleBox3",
|
| 18 |
+
"LittleBox4",
|
| 19 |
+
"LittleBox6",
|
| 20 |
+
"OpenBox",
|
| 21 |
+
"Table",
|
| 22 |
+
"Tracker0"
|
| 23 |
+
],
|
| 24 |
+
"objects": [
|
| 25 |
+
"LittleBox3",
|
| 26 |
+
"LittleBox4",
|
| 27 |
+
"LittleBox6",
|
| 28 |
+
"OpenBox0",
|
| 29 |
+
"Table0"
|
| 30 |
+
],
|
| 31 |
+
"options": {
|
| 32 |
+
"raw_video": true,
|
| 33 |
+
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|
| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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|
| 38 |
+
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|
| 39 |
+
"mocap-LM53-S02-lvaoshan-01p1/mocap-LM53-S02-lvaoshan-01p1-Body0.bvh",
|
| 40 |
+
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|
| 41 |
+
"mocap-LM53-S02-lvaoshan-01p1/mocap-LM53-S02-lvaoshan-01p1-Body0.trc",
|
| 42 |
+
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|
| 43 |
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| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
+
"mocap-LM53-S02-lvaoshan-01p1/mocap-LM53-S02-lvaoshan-01p1-OpenBox.csv",
|
| 49 |
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"mocap-LM53-S02-lvaoshan-01p1/mocap-LM53-S02-lvaoshan-01p1-OpenBox.trc",
|
| 50 |
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|
| 51 |
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"mocap-LM53-S02-lvaoshan-01p1/mocap-LM53-S02-lvaoshan-01p1-Table.trc",
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| 52 |
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|
| 53 |
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|
| 54 |
+
],
|
| 55 |
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|
| 56 |
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| 57 |
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| 58 |
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},
|
| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 77 |
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| 80 |
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| 86 |
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| 89 |
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