Release update 2026-11-05: new sessions, instructions, annotations (part 111)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +21 -0
- actions/locomanipulation/LM58/session_024/raw/mocap/Body0.csv +3 -0
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- actions/locomanipulation/LM58/session_024/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM58/session_024/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM58/session_024/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM58/session_024/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM58/session_024/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM58/session_024/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM58/session_024/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM58/session_025/cameras/poses.npz +3 -0
- actions/locomanipulation/LM58/session_025/meta.json +555 -0
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.gitattributes
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:ce13ba484bba037cb4a52717dc8c2769928678608da9abed58a044ba6220e4b9
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| 3 |
+
size 1424219
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actions/locomanipulation/LM58/session_025/meta.json
ADDED
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@@ -0,0 +1,555 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261102/LM58/20261102_012401_session9",
|
| 4 |
+
"session_id": "20261102_012401_session9",
|
| 5 |
+
"primitive": "LM58",
|
| 6 |
+
"batch": "20261102",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T22:18:48.630529+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": 151.15833333333333,
|
| 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 + rate (windowed fit)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.092913,
|
| 29 |
+
"rate": 3.5905305909654795e-05,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9611,
|
| 32 |
+
"reference_imu_first_sample_s": 2600.515437601,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9589433665482141,
|
| 36 |
+
"drift_ppm": 35.90530590965487,
|
| 37 |
+
"drift_se_ppm": 8.565347231133686,
|
| 38 |
+
"drift_ms_over_take": 5.4270869882443336,
|
| 39 |
+
"lag_scatter_ms": 1.1960856479378243,
|
| 40 |
+
"lag_range_ms": 6.145905736883034
|
| 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": 30750,
|
| 76 |
+
"n_gyro": 30745,
|
| 77 |
+
"t_start": -0.09982805864146377,
|
| 78 |
+
"t_end": 151.3669887204875
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 30559,
|
| 82 |
+
"n_gyro": 30553,
|
| 83 |
+
"t_start": 0.010333115587212316,
|
| 84 |
+
"t_end": 151.53194412004888
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 30624,
|
| 88 |
+
"n_gyro": 30637,
|
| 89 |
+
"t_start": -0.8670666025869012,
|
| 90 |
+
"t_end": 150.4663504799568
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 30632,
|
| 94 |
+
"n_gyro": 30643,
|
| 95 |
+
"t_start": -0.8102467325253339,
|
| 96 |
+
"t_end": 150.4672462311181
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 15160,
|
| 100 |
+
"t_start": 0.10022941622548226,
|
| 101 |
+
"t_end": 151.69565724900758
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 15122,
|
| 105 |
+
"t_start": -0.8544496995896359,
|
| 106 |
+
"t_end": 150.46070093411566
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 15126,
|
| 110 |
+
"t_start": -0.7936580439248982,
|
| 111 |
+
"t_end": 150.46160253548655
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2600.643057,
|
| 118 |
+
"frames": 4534,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.037339272864054904,
|
| 124 |
+
"t_end": 151.14277556498197,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2600.643017,
|
| 131 |
+
"frames": 4534,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"release_path": "actions/locomanipulation/LM58/session_025",
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"task": {
|
| 532 |
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"primitive": "LM58",
|
| 533 |
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"instruction": "Carry the fragile object across the room and set it down as gently as you can. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 534 |
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},
|
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|
| 536 |
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{
|
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"name": "LittleBox5",
|
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|
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|
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"source": "mocap",
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"pose_frame": "rigid_body"
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|
actions/locomanipulation/LM58/session_025/motions/head_rig.npz
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size 1343734
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actions/locomanipulation/LM58/session_025/motions/markers.npz
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size 1660177
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actions/locomanipulation/LM58/session_025/motions/objects.json
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"session": "20261102/LM58/20261102_012401_session9",
|
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|
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|
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|
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|
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"instance": "LittleBox5",
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|
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|
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|
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|
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|
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{
|
| 25 |
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"name": "LittleBox6",
|
| 26 |
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|
| 27 |
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"source": "mocap",
|
| 28 |
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|
| 29 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 30 |
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"calibration": {
|
| 31 |
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"instance": "LittleBox6",
|
| 32 |
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"rms_mm": 1.87
|
| 33 |
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|
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"valid_pct": 92.49,
|
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|
| 36 |
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|
| 37 |
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"vision_source": null
|
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{
|
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"name": "Table",
|
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"object_type": "Table",
|
| 42 |
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"source": "mocap",
|
| 43 |
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"pose_frame": "rigid_body",
|
| 44 |
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"mesh": null,
|
| 45 |
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"calibration": null,
|
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|
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|
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|
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"vision_source": null
|
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}
|
| 51 |
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|
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|
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|
| 54 |
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"status": "corrected",
|
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|
| 56 |
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"declared": [
|
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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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"name": "LittleBox5",
|
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"object": "LittleBox",
|
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"source": "mocap",
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{
|
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"name": "LittleBox6",
|
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"object": "LittleBox",
|
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"source": "mocap",
|
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"needs_video_check": false
|
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{
|
| 75 |
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"name": "Table",
|
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"object": null,
|
| 77 |
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"source": "mocap",
|
| 78 |
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|
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|
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]
|
| 81 |
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},
|
| 82 |
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"notes": []
|
| 83 |
+
}
|
actions/locomanipulation/LM58/session_025/motions/objects.npz
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|
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size 2130705
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| 1 |
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{
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| 2 |
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"schema_version": 1,
|
| 3 |
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"created_at_utc": "2026-11-03T11:01:52.134592+00:00",
|
| 4 |
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"primitive_id": "LM58",
|
| 5 |
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"session_id": "20261102_012401_session9",
|
| 6 |
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"upload_batch_id": "20261102",
|
| 7 |
+
"dataset_path": "EgoMotionActions/20261102/LM58/20261102_012401_session9",
|
| 8 |
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"segment": "auto/all",
|
| 9 |
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"duration_s": 151.100011,
|
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"device_ids": {
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"main": "c9205ac6e17d2d5c",
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"left": "452031d7af00ef6f",
|
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"right": "60a6f081bbe60b0d"
|
| 14 |
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},
|
| 15 |
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"mocap_rigid_names": [
|
| 16 |
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|
| 17 |
+
"LittleBox5",
|
| 18 |
+
"LittleBox6",
|
| 19 |
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"Table",
|
| 20 |
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"Tracker0"
|
| 21 |
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],
|
| 22 |
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"objects": [
|
| 23 |
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|
| 24 |
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"LittleBox6",
|
| 25 |
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