Release update 2026-11-05: new sessions, instructions, annotations (part 14)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
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actions/locomanipulation/LM42/session_031/cameras/poses.npz
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 1081404
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actions/locomanipulation/LM42/session_031/meta.json
ADDED
|
@@ -0,0 +1,561 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261102/LM42/20261102_034230_session48",
|
| 4 |
+
"session_id": "20261102_034230_session48",
|
| 5 |
+
"primitive": "LM42",
|
| 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": "2026-11-03T21:59:52.649998+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": 123.71666666666667,
|
| 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": -0.085461,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.974,
|
| 32 |
+
"reference_imu_first_sample_s": 10909.556933023,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9688285707143643,
|
| 36 |
+
"drift_ppm": 0.39121027793990304,
|
| 37 |
+
"drift_se_ppm": 10.778191398365232,
|
| 38 |
+
"drift_ms_over_take": 0.048399231552465005,
|
| 39 |
+
"lag_scatter_ms": 1.0225090162820807,
|
| 40 |
+
"lag_range_ms": 3.4955423280781384
|
| 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": 25179,
|
| 76 |
+
"n_gyro": 25174,
|
| 77 |
+
"t_start": -0.1006898221714037,
|
| 78 |
+
"t_end": 123.92279284382843
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25023,
|
| 82 |
+
"n_gyro": 25017,
|
| 83 |
+
"t_start": 0.0182654698290607,
|
| 84 |
+
"t_end": 124.0881421418288
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24934,
|
| 88 |
+
"n_gyro": 24946,
|
| 89 |
+
"t_start": -0.9143799991708474,
|
| 90 |
+
"t_end": 122.30684676282894
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24954,
|
| 94 |
+
"n_gyro": 24968,
|
| 95 |
+
"t_start": -0.9387385791707457,
|
| 96 |
+
"t_end": 122.30408012882967
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12416,
|
| 100 |
+
"t_start": 0.10142755282853973,
|
| 101 |
+
"t_end": 124.2513409868296
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
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"n": 12321,
|
| 105 |
+
"t_start": -0.8970382711706006,
|
| 106 |
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"t_end": 122.30260993282886
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
+
"n": 12323,
|
| 110 |
+
"t_start": -0.9208316771711507,
|
| 111 |
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"t_end": 122.29882054782851
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 10909.678813,
|
| 118 |
+
"frames": 3711,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.030713830477765394,
|
| 124 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"instruction": "Take objects out of the bin one at a time and lay them out on the table, stepping between the bin and the table each time. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
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{
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actions/locomanipulation/LM42/session_031/motions/head_rig.npz
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actions/locomanipulation/LM42/session_031/motions/markers.npz
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|
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|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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|
| 31 |
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"instance": "LittleBox6",
|
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|
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|
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|
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"source": "mocap",
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}
|
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|
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|
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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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{
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"source": "mocap",
|
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|
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},
|
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"notes": []
|
| 83 |
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}
|
actions/locomanipulation/LM42/session_031/motions/objects.npz
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|
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size 1184892
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| 1 |
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{
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"created_at_utc": "2026-11-03T13:35:44.869511+00:00",
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"primitive_id": "LM42",
|
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"session_id": "20261102_034230_session48",
|
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"upload_batch_id": "20261102",
|
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"dataset_path": "EgoMotionActions/20261102/LM42/20261102_034230_session48",
|
| 8 |
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"segment": "auto/all",
|
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"sha256": "61da14c1d0cc64e86c0091aa82a77021023c9092ea5f2c9782e697cb9be4b605"
|
| 294 |
+
},
|
| 295 |
+
{
|
| 296 |
+
"source": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 297 |
+
"packaged_as": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 298 |
+
"kind": "video_raw",
|
| 299 |
+
"original_bytes": 53424947,
|
| 300 |
+
"packaged_bytes": 53424947,
|
| 301 |
+
"compressed_video": false,
|
| 302 |
+
"sha256": "546e6405b2c305c1902647666b1638d95db771a3f321c0f9f448bb95dcdb87cd"
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
|
| 306 |
+
"packaged_as": "timestamp_anomaly_detail_table.html",
|
| 307 |
+
"kind": "inspection_html",
|
| 308 |
+
"original_bytes": 4291277,
|
| 309 |
+
"packaged_bytes": 4291236,
|
| 310 |
+
"compressed_video": false,
|
| 311 |
+
"sha256": "a9b21e91391fbba036ee4a82ac8cdd89653edfeee9a8849ececd50635201a3e3"
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"mocap_capture": {
|
| 315 |
+
"source_directory": "mocap-LM42-S02-xiaobo-01p1",
|
| 316 |
+
"action_id": "LM42",
|
| 317 |
+
"collection_session_index": 2,
|
| 318 |
+
"participant": "xiaobo",
|
| 319 |
+
"repetition_count": 1
|
| 320 |
+
},
|
| 321 |
+
"upload_batch_created_at": "2026-11-03T21:35:48.184918+08:00",
|
| 322 |
+
"participant_gender": "male",
|
| 323 |
+
"participant_height_cm": 170,
|
| 324 |
+
"participant_weight_kg": 55,
|
| 325 |
+
"collection_site": {
|
| 326 |
+
"id": "site_01",
|
| 327 |
+
"assignment_method": "env",
|
| 328 |
+
"catalog": "collection_sites.json"
|
| 329 |
+
}
|
| 330 |
+
}
|
actions/locomanipulation/LM42/session_031/raw/mocap/Body0.bvh
ADDED
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|
|