Release update 2026-11-05: new sessions, instructions, annotations (part 72)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
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- actions/locomanipulation/LM51/session_016/videos/frame_timestamps.npz +3 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LM51/20261029_082644_session5",
|
| 4 |
+
"session_id": "20261029_082644_session5",
|
| 5 |
+
"primitive": "LM51",
|
| 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": "2026-10-30T07:39:06.597435+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": 146.15833333333333,
|
| 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 (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": -0.07834,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9982,
|
| 32 |
+
"reference_imu_first_sample_s": 1097.110843533,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9987012190090956,
|
| 36 |
+
"drift_ppm": 4.491110538659724,
|
| 37 |
+
"drift_se_ppm": 0.8562183695163521,
|
| 38 |
+
"drift_ms_over_take": 0.6563758052251187,
|
| 39 |
+
"lag_scatter_ms": 0.10625390535400334,
|
| 40 |
+
"lag_range_ms": 0.7142021961074885
|
| 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": 29506,
|
| 76 |
+
"n_gyro": 29499,
|
| 77 |
+
"t_start": -0.09025193328650442,
|
| 78 |
+
"t_end": 146.35539784171348
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 29361,
|
| 82 |
+
"n_gyro": 29356,
|
| 83 |
+
"t_start": 0.026360924713321368,
|
| 84 |
+
"t_end": 146.52109844571348
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29694,
|
| 88 |
+
"n_gyro": 29692,
|
| 89 |
+
"t_start": -0.7818746512864667,
|
| 90 |
+
"t_end": 145.55108375471352
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 29551,
|
| 94 |
+
"n_gyro": 29563,
|
| 95 |
+
"t_start": -0.8554716882865936,
|
| 96 |
+
"t_end": 145.54645469571344
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14658,
|
| 100 |
+
"t_start": 0.11131519171337874,
|
| 101 |
+
"t_end": 146.68125009471348
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14631,
|
| 105 |
+
"t_start": -0.7541240262865134,
|
| 106 |
+
"t_end": 145.54656305271348
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14638,
|
| 110 |
+
"t_start": -0.8286764212864686,
|
| 111 |
+
"t_end": 145.5414658797135
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
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|
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|
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"RHandOut"
|
| 497 |
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],
|
| 498 |
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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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| 509 |
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"RForearm",
|
| 510 |
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"RWristIn",
|
| 511 |
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"RWristOut"
|
| 512 |
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|
| 513 |
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|
| 514 |
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|
| 515 |
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},
|
| 516 |
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"generated_at_utc": "2026-11-02T20:31:32.272881+00:00",
|
| 517 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 518 |
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}
|
| 519 |
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},
|
| 520 |
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"marker_relabel": {
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"generated_by": "scripts/relabel_marker_swaps.py",
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"task": {
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"primitive": "LM51",
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"instruction": "Take the objects from the bin one at a time and put one in each of the places the operator points out. 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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"objects": [
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{
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"pose_frame": "mesh"
|
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{
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"source": "mocap",
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"pose_frame": "mesh"
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},
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{
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"name": "LittleBox4",
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|
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},
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{
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"name": "LittleBox5",
|
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"object_type": "LittleBox",
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"source": "mocap",
|
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"pose_frame": "mesh"
|
| 713 |
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},
|
| 714 |
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{
|
| 715 |
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"name": "LittleBox6",
|
| 716 |
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"object_type": "LittleBox",
|
| 717 |
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"source": "mocap",
|
| 718 |
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"pose_frame": "mesh"
|
| 719 |
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},
|
| 720 |
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{
|
| 721 |
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"name": "Table",
|
| 722 |
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"object_type": "Table",
|
| 723 |
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"source": "mocap",
|
| 724 |
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"pose_frame": "rigid_body"
|
| 725 |
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}
|
| 726 |
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]
|
| 727 |
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}
|
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actions/locomanipulation/LM51/session_017/motions/objects.json
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{
|
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"session": "20261029/LM51/20261029_082644_session5",
|
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|
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"generated_by": "scripts/export_objects.py",
|
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
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"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
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"held_by": "from mocap hands",
|
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"instances": [
|
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{
|
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"name": "BigBox2",
|
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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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"name": "LittleBox1",
|
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"object_type": "LittleBox",
|
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"source": "mocap",
|
| 25 |
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"pose_frame": "rigid_body",
|
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"mesh": null,
|
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|
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"valid_pct": 98.3,
|
| 29 |
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|
| 30 |
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"moving_pct": 9.06,
|
| 31 |
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"vision_source": null
|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"name": "LittleBox2",
|
| 35 |
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"object_type": "LittleBox",
|
| 36 |
+
"source": "mocap",
|
| 37 |
+
"pose_frame": "mesh",
|
| 38 |
+
"mesh": "objects/LittleBox/littlebox.ply",
|
| 39 |
+
"calibration": {
|
| 40 |
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"instance": "LittleBox2",
|
| 41 |
+
"rms_mm": 0.57
|
| 42 |
+
},
|
| 43 |
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|
| 44 |
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"verified_pct": 98.8,
|
| 45 |
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"moving_pct": 7.13,
|
| 46 |
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{
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| 24 |
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|
| 26 |
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| 27 |
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