Release update 2026-11-05: new sessions, instructions, annotations (part 91)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/long_horizon_composite/LH03/session_022/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH03/session_022/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH03/session_022/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH03/session_022/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH03/session_022/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH03/session_022/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH03/session_022/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH03/session_022/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH03/session_022/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH03/session_022/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH03/session_022/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH03/session_022/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH03/session_022/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH03/session_022/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_022/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_023/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH03/session_023/meta.json +536 -0
- actions/long_horizon_composite/LH03/session_023/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH03/session_023/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH03/session_023/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH03/session_023/motions/objects.json +105 -0
- actions/long_horizon_composite/LH03/session_023/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH03/session_023/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH03/session_023/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH03/session_023/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH03/session_023/raw/manifest.json +352 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/Body0.bvh +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/LittleBox5.csv +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/LittleBox5.trc +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/LittleBox6.csv +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/LittleBox6.trc +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH03/session_023/raw/sensors/robocap_imu_left.db +3 -0
.gitattributes
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actions/long_horizon_composite/LH03/session_022/raw/mocap/Table.trc
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actions/long_horizon_composite/LH03/session_022/raw/mocap/Tracker0.csv
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actions/long_horizon_composite/LH03/session_022/raw/mocap/Tracker0.trc
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actions/long_horizon_composite/LH03/session_022/raw/sensors/robocap_imu_left.db
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261103/LH03/20261103_045408_session165",
|
| 4 |
+
"session_id": "20261103_045408_session165",
|
| 5 |
+
"primitive": "LH03",
|
| 6 |
+
"batch": "20261103",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T22:10:28.139013+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": 126.75833333333334,
|
| 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": -0.093707,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9254,
|
| 32 |
+
"reference_imu_first_sample_s": 15789.30805804,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.8928864268591937,
|
| 36 |
+
"drift_ppm": -95.99794876793794,
|
| 37 |
+
"drift_se_ppm": 34.67327780922541,
|
| 38 |
+
"drift_ms_over_take": -12.167740006336135,
|
| 39 |
+
"lag_scatter_ms": 3.2893959546277656,
|
| 40 |
+
"lag_range_ms": 18.97082130529826
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25483,
|
| 76 |
+
"n_gyro": 25478,
|
| 77 |
+
"t_start": -0.10068707415298905,
|
| 78 |
+
"t_end": 126.93750022484532
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25439,
|
| 82 |
+
"n_gyro": 25432,
|
| 83 |
+
"t_start": 0.004307675846616066,
|
| 84 |
+
"t_end": 127.10610896684561
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25110,
|
| 88 |
+
"n_gyro": 25123,
|
| 89 |
+
"t_start": -0.8941663291534094,
|
| 90 |
+
"t_end": 125.91508732984589
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25056,
|
| 94 |
+
"n_gyro": 25054,
|
| 95 |
+
"t_start": -0.9210374831545376,
|
| 96 |
+
"t_end": 125.93202037484666
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12719,
|
| 100 |
+
"t_start": 0.0876429678465176,
|
| 101 |
+
"t_end": 127.26763761184525
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12680,
|
| 105 |
+
"t_start": -0.8801849781538802,
|
| 106 |
+
"t_end": 125.90908201284587
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12683,
|
| 110 |
+
"t_start": -0.8924292131541331,
|
| 111 |
+
"t_end": 125.92753966084642
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 15789.439127,
|
| 118 |
+
"frames": 3802,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03970478864361593,
|
| 124 |
+
"t_end": 126.73972678864452,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 15789.439086,
|
| 131 |
+
"frames": 3802,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039270364492080434,
|
| 137 |
+
"t_end": 126.7392813644929,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 15789.439114,
|
| 144 |
+
"frames": 3802,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03916652308548163,
|
| 150 |
+
"t_end": 126.73918852308638,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 15789.439139,
|
| 157 |
+
"frames": 3802,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03910396449286435,
|
| 163 |
+
"t_end": 126.73913696449203,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
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"observed": false,
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|
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|
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|
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|
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|
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"LShin 25mm",
|
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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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|
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"shape_source": "participant median",
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"status": "corrected",
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|
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|
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|
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2.4
|
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]
|
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|
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"RForearm",
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|
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},
|
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 498 |
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}
|
| 499 |
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},
|
| 500 |
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"release": {
|
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"release_path": "actions/long_horizon_composite/LH03/session_023",
|
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|
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},
|
| 506 |
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"task": {
|
| 507 |
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"primitive": "LH03",
|
| 508 |
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"instruction": "1. Look at the shelf and see which spaces are empty. 2. Find matching items in the bins on the floor. 3. Fill the empty spaces on the shelf. 4. Tell the operator when you are finished."
|
| 509 |
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},
|
| 510 |
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"objects": [
|
| 511 |
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{
|
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"name": "LittleBox4",
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| 517 |
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{
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"name": "LittleBox5",
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},
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| 523 |
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{
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"name": "LittleBox6",
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| 528 |
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|
| 529 |
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{
|
| 530 |
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"name": "Table",
|
| 531 |
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"object_type": "Table",
|
| 532 |
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"source": "mocap",
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| 533 |
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| 534 |
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}
|
| 535 |
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]
|
| 536 |
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}
|
actions/long_horizon_composite/LH03/session_023/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:95c875c5649cce0bf1ab4d3da1d96f649cf9763889f9312d784aff80506f922c
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size 1137968
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actions/long_horizon_composite/LH03/session_023/motions/markers.npz
ADDED
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@@ -0,0 +1,3 @@
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|
|
|
|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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actions/long_horizon_composite/LH03/session_023/motions/object_markers.npz
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actions/long_horizon_composite/LH03/session_023/motions/objects.json
ADDED
|
@@ -0,0 +1,105 @@
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| 1 |
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{
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| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
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| 6 |
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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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| 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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| 18 |
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| 27 |
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| 42 |
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| 44 |
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| 70 |
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| 71 |
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"declared": [
|
| 72 |
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"LittleBox4",
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| 73 |
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| 74 |
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"LittleBox6",
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| 75 |
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| 77 |
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"listed": [
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| 78 |
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| 79 |
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"name": "LittleBox4",
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| 80 |
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"object": "LittleBox",
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| 81 |
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"source": "mocap",
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| 82 |
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| 83 |
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| 84 |
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{
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| 85 |
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| 86 |
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| 87 |
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"source": "mocap",
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| 88 |
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| 91 |
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| 92 |
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| 93 |
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| 95 |
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| 104 |
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"notes": []
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| 1 |
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{
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"primitive_id": "LH03",
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| 5 |
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"session_id": "20261103_045408_session165",
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|
| 7 |
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"dataset_path": "EgoMotionActions/20261103/LH03/20261103_045408_session165",
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| 14 |
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},
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"mocap_rigid_names": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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"LittleBox5",
|
| 19 |
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"LittleBox6",
|
| 20 |
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"Table",
|
| 21 |
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|
| 22 |
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],
|
| 23 |
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"objects": [
|
| 24 |
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|
| 25 |
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"LittleBox5",
|
| 26 |
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"LittleBox6",
|
| 27 |
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"Table0"
|
| 28 |
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],
|
| 29 |
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"options": {
|
| 30 |
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"raw_video": true,
|
| 31 |
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|
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|
| 33 |
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| 35 |
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|
| 36 |
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|
| 37 |
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|
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