Release update 2026-11-05: new sessions, instructions, annotations (part 113)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/LittleBox5.csv +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/LittleBox5.trc +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/LittleBox6.csv +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/LittleBox6.trc +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH08/session_026/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH08/session_026/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH08/session_026/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH08/session_026/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH08/session_026/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH08/session_026/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH08/session_026/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH08/session_026/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH08/session_026/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH08/session_026/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH08/session_026/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_026/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_027/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH08/session_027/meta.json +600 -0
- actions/long_horizon_composite/LH08/session_027/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH08/session_027/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH08/session_027/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH08/session_027/motions/objects.json +118 -0
- actions/long_horizon_composite/LH08/session_027/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH08/session_027/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH08/session_027/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH08/session_027/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH08/session_027/raw/manifest.json +374 -0
- actions/long_horizon_composite/LH08/session_027/raw/mocap/BigBox2.csv +0 -0
- actions/long_horizon_composite/LH08/session_027/raw/mocap/BigBox2.trc +0 -0
- actions/long_horizon_composite/LH08/session_027/raw/mocap/Body0.bvh +0 -0
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- actions/long_horizon_composite/LH08/session_027/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH08/session_027/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH08/session_027/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH08/session_027/raw/mocap/LittleBox5.csv +0 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261102/LH08/20261102_023148_session29",
|
| 4 |
+
"session_id": "20261102_023148_session29",
|
| 5 |
+
"primitive": "LH08",
|
| 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": "2026-11-03T21:51:21.325944+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": 127.825,
|
| 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": -0.09346,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9768,
|
| 32 |
+
"reference_imu_first_sample_s": 6667.686511039,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9751409367173712,
|
| 36 |
+
"drift_ppm": -6.632398898779245,
|
| 37 |
+
"drift_se_ppm": 7.294194475273798,
|
| 38 |
+
"drift_ms_over_take": -0.8477311192456339,
|
| 39 |
+
"lag_scatter_ms": 0.6919880471424584,
|
| 40 |
+
"lag_range_ms": 2.5426168191425846
|
| 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": 26013,
|
| 76 |
+
"n_gyro": 26007,
|
| 77 |
+
"t_start": -0.10035875650827647,
|
| 78 |
+
"t_end": 128.03154183049173
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25853,
|
| 82 |
+
"n_gyro": 25847,
|
| 83 |
+
"t_start": 0.010576952491655633,
|
| 84 |
+
"t_end": 128.19638339549147
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25829,
|
| 88 |
+
"n_gyro": 25829,
|
| 89 |
+
"t_start": -0.8389533295085041,
|
| 90 |
+
"t_end": 126.80805294349103
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25842,
|
| 94 |
+
"n_gyro": 25856,
|
| 95 |
+
"t_start": -0.8506976325088456,
|
| 96 |
+
"t_end": 126.77943635649173
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12828,
|
| 100 |
+
"t_start": 0.08772686849170869,
|
| 101 |
+
"t_end": 128.35772667949095
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12764,
|
| 105 |
+
"t_start": -0.8217815715088275,
|
| 106 |
+
"t_end": 126.80824745349129
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12763,
|
| 110 |
+
"t_start": -0.8427642475089581,
|
| 111 |
+
"t_end": 126.77659145549116
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 6667.817454,
|
| 118 |
+
"frames": 3834,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04011137713860963,
|
| 124 |
+
"t_end": 127.80668937713837,
|
| 125 |
+
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-5.9,
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"primitive": "LH08",
|
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"instruction": "1. Read the parts list. 2. Collect each part from the bins around the room. 3. Lay them out on the table in the order on the list. 4. Put them all in the carry case. 5. Tell the operator when you are finished."
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"objects": [
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"name": "LittleBox6",
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actions/long_horizon_composite/LH08/session_027/motions/markers.npz
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
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"held_by": "from mocap hands",
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"instances": [
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{
|
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|
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"mesh": "objects/LittleBox/littlebox.ply",
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|
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"instance": "LittleBox4",
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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_type": "LittleBox",
|
| 27 |
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"source": "mocap",
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| 28 |
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
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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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"name": "LittleBox6",
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"mesh": "objects/LittleBox/littlebox.ply",
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"instance": "LittleBox6",
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|
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],
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"name": "BigBox2",
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"valid_s": 0.12
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}
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],
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"status": "corrected",
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|
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"LittleBox6",
|
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],
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{
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{
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| 1 |
+
{
|
| 2 |
+
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| 3 |
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|
| 4 |
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|
| 5 |
+
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|
| 6 |
+
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|
| 7 |
+
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|
| 8 |
+
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|
| 9 |
+
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|
| 10 |
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
+
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|
| 17 |
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|
| 18 |
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"LittleBox4",
|
| 19 |
+
"LittleBox5",
|
| 20 |
+
"LittleBox6",
|
| 21 |
+
"Table",
|
| 22 |
+
"Tracker0"
|
| 23 |
+
],
|
| 24 |
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|
| 25 |
+
"BigBox2",
|
| 26 |
+
"LittleBox4",
|
| 27 |
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"LittleBox5",
|
| 28 |
+
"LittleBox6",
|
| 29 |
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"Table0"
|
| 30 |
+
],
|
| 31 |
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|
| 32 |
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|
| 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 |
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| 40 |
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| 41 |
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| 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 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 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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| 86 |
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