{"samples": [{"_id": {"$oid": "6a7619077173224282a75271"}, "filepath": "data/magenta_20241128.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9990191343781932, "trajectory": "magenta", "trajectory_description": "off-trail, rocky stone quarry incl. creek crossing, ~700 m", "deployment_date": "2024-11-28", "session_name": "magenta_2024-11-28-12-31", "episode_name": "magenta_20241128", "window_s": 30, "anchor_unix_us": 1732815079000094, "gt_origin_utm": [256333.78773068, 5243436.894816025, 641.717239018], "mcap_bytes": 2907192419, "n_static_transforms": 9, "n_basler_frames": 301, "n_zedx_left_frames": 300, "n_zedx_right_frames": 300, "n_robosense_scans": 300, "n_leishen_scans": 297, "n_navtech_frames": 118, "n_audio_left_clips": 30, "n_audio_right_clips": 0, "n_vectornav_samples": 5995, "n_xsens_samples": 5995, "n_gt_poses": 150, "n_odom_poses": 369, "n_metadata_messages": 20726, "has_image": true, "has_pointcloud": true, "has_imu": true, "has_gt_pose": true, "has_audio": true, "changelog": "# Changelog - FoMo Dataset\n\nAll notable changes to this dataset will be documented in this file.\n\n## 2026-04-13 \u2014 Magenta trajectory\n\n### Added\n- `metadata/emlid_metadata.csv`: Raw GNSS metadata from the three Emlid M2 rover\n  receivers (front, left, right). Contains per-epoch position, fix status, and\n  covariance data used for PPK ground truth generation.\n\n---\n", "_dataset_id": {"$oid": "6a7619077173224282a75270"}, "created_at": {"$date": "2026-08-07T17:42:31.708Z"}, "last_modified_at": {"$date": "2026-08-07T17:42:31.708Z"}},{"_id": {"$oid": "6a7619077173224282a75272"}, "filepath": "data/green_20250110.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9995400185034362, "trajectory": "green", "trajectory_description": "off-trail, steep ascent/descent, dense vegetation, ~700 m", "deployment_date": "2025-01-10", "session_name": "green_2025-01-10-11-38", "episode_name": "green_20250110", "window_s": 30, "anchor_unix_us": 1736527195900416, "gt_origin_utm": [256010.006515441, 5242946.714719279, 628.489366648], "mcap_bytes": 3745349148, "n_static_transforms": 9, "n_basler_frames": 300, "n_zedx_left_frames": 286, "n_zedx_right_frames": 286, "n_robosense_scans": 300, "n_leishen_scans": 297, "n_navtech_frames": 120, "n_audio_left_clips": 29, "n_audio_right_clips": 19, "n_vectornav_samples": 5986, "n_xsens_samples": 5987, "n_gt_poses": 300, "n_odom_poses": 450, "n_metadata_messages": 21157, "has_image": true, "has_pointcloud": true, "has_imu": true, "has_gt_pose": true, "has_audio": true, "changelog": "# Changelog - FoMo Dataset\n\nAll notable changes to this dataset will be documented in this file.\n\n## 2026-04-13 \u2014 Green trajectory\n\n### Added\n- `metadata/emlid_metadata.csv`: Raw GNSS metadata from the three Emlid M2 rover\n  receivers (front, left, right). Contains per-epoch position, fix status, and\n  covariance data used for PPK ground truth generation.\n\n---\n", "_dataset_id": {"$oid": "6a7619077173224282a75270"}, "created_at": {"$date": "2026-08-07T17:42:31.709Z"}, "last_modified_at": {"$date": "2026-08-07T17:42:31.709Z"}},{"_id": {"$oid": "6a7619077173224282a75273"}, "filepath": "data/red_20250129.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.999070704878632, "trajectory": "red", "trajectory_description": "on-road baseline loop, ~300 m", "deployment_date": "2025-01-29", "session_name": "red_2025-01-30-09-58", "episode_name": "red_20250129", "window_s": 30, "anchor_unix_us": 1738249094000664, "gt_origin_utm": [255854.855934282, 5242729.419007265, 643.91011291], "mcap_bytes": 2504020976, "n_static_transforms": 9, "n_basler_frames": 300, "n_zedx_left_frames": 284, "n_zedx_right_frames": 284, "n_robosense_scans": 301, "n_leishen_scans": 297, "n_navtech_frames": 119, "n_audio_left_clips": 20, "n_audio_right_clips": 20, "n_vectornav_samples": 5992, "n_xsens_samples": 5992, "n_gt_poses": 299, "n_odom_poses": 353, "n_metadata_messages": 21240, "has_image": true, "has_pointcloud": true, "has_imu": true, "has_gt_pose": true, "has_audio": true, "changelog": "# Changelog - FoMo Dataset\n\nAll notable changes to this dataset will be documented in this file.\n\n## 2026-04-13 \u2014 Red trajectory\n\n### Added\n- `metadata/emlid_metadata.csv`: Raw GNSS metadata from the three Emlid M2 rover\n  receivers (front, left, right). Contains per-epoch position, fix status, and\n  covariance data used for PPK ground truth generation.\n\n---\n", "_dataset_id": {"$oid": "6a7619077173224282a75270"}, "created_at": {"$date": "2026-08-07T17:42:31.709Z"}, "last_modified_at": {"$date": "2026-08-07T17:42:31.709Z"}},{"_id": {"$oid": "6a7619077173224282a75274"}, "filepath": "data/yellow_20250310.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.99944726584074, "trajectory": "yellow", "trajectory_description": "mixed on-road/off-pavement gravel, ~1900 m", "deployment_date": "2025-03-10", "session_name": "yellow_2025-03-10-17-22", "episode_name": "yellow_20250310", "window_s": 30, "anchor_unix_us": 1741641731500366, "gt_origin_utm": [255511.287876016, 5242586.490892261, 642.671748538], "mcap_bytes": 3145735620, "n_static_transforms": 9, "n_basler_frames": 300, "n_zedx_left_frames": 287, "n_zedx_right_frames": 287, "n_robosense_scans": 300, "n_leishen_scans": 297, "n_navtech_frames": 120, "n_audio_left_clips": 30, "n_audio_right_clips": 30, "n_vectornav_samples": 5977, "n_xsens_samples": 5978, "n_gt_poses": 298, "n_odom_poses": 382, "n_metadata_messages": 20728, "has_image": true, "has_pointcloud": true, "has_imu": true, "has_gt_pose": true, "has_audio": true, "changelog": "# Changelog - FoMo Dataset\n\nAll notable changes to this dataset will be documented in this file.\n\n## 2026-04-13 \u2014 Yellow trajectory\n\n### Added\n- `metadata/emlid_metadata.csv`: Raw GNSS metadata from the three Emlid M2 rover\n  receivers (front, left, right). Contains per-epoch position, fix status, and\n  covariance data used for PPK ground truth generation.\n\n---\n", "_dataset_id": {"$oid": "6a7619077173224282a75270"}, "created_at": {"$date": "2026-08-07T17:42:31.710Z"}, "last_modified_at": {"$date": "2026-08-07T17:42:31.710Z"}},{"_id": {"$oid": "6a7619077173224282a75275"}, "filepath": "data/blue_20250415.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9992354961037253, "trajectory": "blue", "trajectory_description": "mixed on-road/off-pavement gravel, ~550 m", "deployment_date": "2025-04-15", "session_name": "blue_2025-04-15-16-16", "episode_name": "blue_20250415", "window_s": 30, "anchor_unix_us": 1744748202600449, "gt_origin_utm": [255857.046457665, 5242729.642117738, 643.57350243], "mcap_bytes": 3780441175, "n_static_transforms": 9, "n_basler_frames": 295, "n_zedx_left_frames": 300, "n_zedx_right_frames": 300, "n_robosense_scans": 301, "n_leishen_scans": 298, "n_navtech_frames": 120, "n_audio_left_clips": 30, "n_audio_right_clips": 30, "n_vectornav_samples": 5989, "n_xsens_samples": 5988, "n_gt_poses": 299, "n_odom_poses": 386, "n_metadata_messages": 20117, "has_image": true, "has_pointcloud": true, "has_imu": true, "has_gt_pose": true, "has_audio": true, "changelog": "# Changelog - FoMo Dataset\n\nAll notable changes to this dataset will be documented in this file.\n\n## 2026-04-13 \u2014 Blue trajectory\n\n### Added\n- `metadata/emlid_metadata.csv`: Raw GNSS metadata from the three Emlid M2 rover\n  receivers (front, left, right). Contains per-epoch position, fix status, and\n  covariance data used for PPK ground truth generation.\n\n---\n", "_dataset_id": {"$oid": "6a7619077173224282a75270"}, "created_at": {"$date": "2026-08-07T17:42:31.710Z"}, "last_modified_at": {"$date": "2026-08-07T17:42:31.710Z"}},{"_id": {"$oid": "6a7619077173224282a75276"}, "filepath": "data/orange_20250924.mcap", "tags": [], "_media_type": "multimodal", "_rand": 0.9997972771780091, "trajectory": "orange", "trajectory_description": "mixed on-road/off-pavement gravel, longest trajectory, ~2200 m", "deployment_date": "2025-09-24", "session_name": "orange_2025-09-24-11-51", "episode_name": "orange_20250924", "window_s": 30, "anchor_unix_us": 1758729108000455, "gt_origin_utm": [255855.059306803, 5242729.625387914, 643.58888463], "mcap_bytes": 3928559196, "n_static_transforms": 9, "n_basler_frames": 300, "n_zedx_left_frames": 260, "n_zedx_right_frames": 260, "n_robosense_scans": 300, "n_leishen_scans": 297, "n_navtech_frames": 120, "n_audio_left_clips": 29, "n_audio_right_clips": 16, "n_vectornav_samples": 5984, "n_xsens_samples": 5984, "n_gt_poses": 299, "n_odom_poses": 418, "n_metadata_messages": 20114, "has_image": true, "has_pointcloud": true, "has_imu": true, "has_gt_pose": true, "has_audio": true, "changelog": "# Changelog - FoMo Dataset\n\nAll notable changes to this dataset will be documented in this file.\n\n## 2026-04-13 \u2014 Orange trajectory\n\n### Added\n- `metadata/emlid_metadata.csv`: Raw GNSS metadata from the three Emlid M2 rover\n  receivers (front, left, right). Contains per-epoch position, fix status, and\n  covariance data used for PPK ground truth generation.\n\n---\n", "_dataset_id": {"$oid": "6a7619077173224282a75270"}, "created_at": {"$date": "2026-08-07T17:42:31.710Z"}, "last_modified_at": {"$date": "2026-08-07T17:42:31.710Z"}}]}