Release update 2026-11-05: new sessions, instructions, annotations (part 12)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/static_manipulation/SM12/session_009/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM12/session_009/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM12/session_009/raw/mocap/Table2.trc +0 -0
- actions/static_manipulation/SM12/session_009/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM12/session_009/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM12/session_009/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM12/session_009/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM12/session_009/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM12/session_009/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM12/session_009/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM12/session_009/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM12/session_009/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM12/session_009/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM12/session_009/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM12/session_009/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM12/session_009/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM12/session_009/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM12/session_009/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM12/session_009/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM13/session_001/annotations.json +39 -0
- actions/static_manipulation/SM13/session_001/cameras/slam.npz +3 -0
- actions/static_manipulation/SM13/session_001/meta.json +4 -0
- actions/static_manipulation/SM13/session_001/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM13/session_002/annotations.json +39 -0
- actions/static_manipulation/SM13/session_002/cameras/gsi_online_calibration.json +213 -0
- actions/static_manipulation/SM13/session_002/cameras/slam.npz +3 -0
- actions/static_manipulation/SM13/session_002/meta.json +4 -0
- actions/static_manipulation/SM13/session_002/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM13/session_003/cameras/poses.npz +3 -0
- actions/static_manipulation/SM13/session_003/meta.json +550 -0
- actions/static_manipulation/SM13/session_003/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM13/session_003/motions/markers.npz +3 -0
- actions/static_manipulation/SM13/session_003/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM13/session_003/motions/objects.json +83 -0
- actions/static_manipulation/SM13/session_003/motions/objects.npz +3 -0
- actions/static_manipulation/SM13/session_003/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM13/session_003/motions/smplx.npz +3 -0
- actions/static_manipulation/SM13/session_003/raw/audio.wav +3 -0
- actions/static_manipulation/SM13/session_003/raw/manifest.json +330 -0
- actions/static_manipulation/SM13/session_003/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM13/session_003/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM13/session_003/raw/mocap/Body0.trc +3 -0
.gitattributes
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "SM13",
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"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 128.9667,
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"video": "left_eye",
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"video_t_start": 0.0395225892099722
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}
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],
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| 15 |
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"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "96a95f81-f162-4a54-8c53-3ae6c7337907",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM13",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
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"end_s": 63.451,
|
| 23 |
+
"t_start": 0.0395,
|
| 24 |
+
"t_end": 63.4905,
|
| 25 |
+
"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "27166f54-3f6d-4dab-abb4-49046c18acb7",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM13",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 65.343,
|
| 33 |
+
"end_s": 125.933,
|
| 34 |
+
"t_start": 65.3825,
|
| 35 |
+
"t_end": 125.9725,
|
| 36 |
+
"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM13/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ffc85222641b43f2cb4a95b381f0abc1e97ba45dc90f75600dbd3b57ad0c4bf
|
| 3 |
+
size 737588
|
actions/static_manipulation/SM13/session_001/meta.json
CHANGED
|
@@ -520,5 +520,9 @@
|
|
| 520 |
"family": "static_manipulation",
|
| 521 |
"primitive": "SM13",
|
| 522 |
"source_session": "20260915/SM13/20260915_015042_session11"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 523 |
}
|
| 524 |
}
|
|
|
|
| 520 |
"family": "static_manipulation",
|
| 521 |
"primitive": "SM13",
|
| 522 |
"source_session": "20260915/SM13/20260915_015042_session11"
|
| 523 |
+
},
|
| 524 |
+
"task": {
|
| 525 |
+
"primitive": "SM13",
|
| 526 |
+
"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 527 |
}
|
| 528 |
}
|
actions/static_manipulation/SM13/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:af6cce62d2817b2144e9dd36e56dbb087f294a852cc21993ad06c09d88d55ee4
|
| 3 |
+
size 4993909
|
actions/static_manipulation/SM13/session_002/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "SM13",
|
| 6 |
+
"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 125.866622,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.0405719609217072
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "2c72485c-d4e2-47e7-bed3-6bdda286ba42",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM13",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.374,
|
| 22 |
+
"end_s": 66.467,
|
| 23 |
+
"t_start": 1.4146,
|
| 24 |
+
"t_end": 66.5076,
|
| 25 |
+
"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "e58e70c1-4135-47a8-9222-66b6c0e01705",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM13",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 68.467,
|
| 33 |
+
"end_s": 122.517,
|
| 34 |
+
"t_start": 68.5076,
|
| 35 |
+
"t_end": 122.5576,
|
| 36 |
+
"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM13/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,213 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.295
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
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"delta_deg": 1.6689,
|
| 18 |
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"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.398,
|
| 20 |
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"held_out_px_before": 24.155,
|
| 21 |
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"inliers": 1920,
|
| 22 |
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"position_fitted": false,
|
| 23 |
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"rotvec_deg": [
|
| 24 |
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-1.5363,
|
| 25 |
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|
| 26 |
+
-0.6009
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0493,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
| 31 |
+
"left_eye": {
|
| 32 |
+
"accepted": true,
|
| 33 |
+
"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 2.5508,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.327,
|
| 43 |
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"held_out_px_before": 9.606,
|
| 44 |
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"inliers": 3296,
|
| 45 |
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"position_fitted": true,
|
| 46 |
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"position_mm": [
|
| 47 |
+
5.48,
|
| 48 |
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-23.83,
|
| 49 |
+
3.43
|
| 50 |
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],
|
| 51 |
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"position_sigma_mm": 0.127,
|
| 52 |
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"position_split_mm": 3.664,
|
| 53 |
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"rotvec_deg": [
|
| 54 |
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1.6338,
|
| 55 |
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-0.9149,
|
| 56 |
+
1.7322
|
| 57 |
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],
|
| 58 |
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"split_deg": 0.0658,
|
| 59 |
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"usable": true
|
| 60 |
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},
|
| 61 |
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"left_front": {
|
| 62 |
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"role": "rig origin"
|
| 63 |
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},
|
| 64 |
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"right": {
|
| 65 |
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"accepted": true,
|
| 66 |
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"against": [
|
| 67 |
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"right_front",
|
| 68 |
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"left_eye",
|
| 69 |
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"right_eye",
|
| 70 |
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"left"
|
| 71 |
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],
|
| 72 |
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"delta_deg": 3.3324,
|
| 73 |
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"gate_fail": [],
|
| 74 |
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"held_out_px_after": 0.495,
|
| 75 |
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"held_out_px_before": 12.157,
|
| 76 |
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"inliers": 402,
|
| 77 |
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"position_fitted": false,
|
| 78 |
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"rotvec_deg": [
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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],
|
| 83 |
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"split_deg": 0.0668,
|
| 84 |
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"usable": true
|
| 85 |
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},
|
| 86 |
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"right_eye": {
|
| 87 |
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"accepted": true,
|
| 88 |
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"against": [
|
| 89 |
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"left_front",
|
| 90 |
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"right_front",
|
| 91 |
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"left_eye",
|
| 92 |
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"left",
|
| 93 |
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"right"
|
| 94 |
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],
|
| 95 |
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"delta_deg": 3.1695,
|
| 96 |
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"gate_fail": [],
|
| 97 |
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"held_out_px_after": 0.294,
|
| 98 |
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"held_out_px_before": 5.178,
|
| 99 |
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"inliers": 3439,
|
| 100 |
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"position_fitted": true,
|
| 101 |
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"position_mm": [
|
| 102 |
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|
| 103 |
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|
| 104 |
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-1.32
|
| 105 |
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],
|
| 106 |
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"position_sigma_mm": 0.148,
|
| 107 |
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"position_split_mm": 0.391,
|
| 108 |
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"rotvec_deg": [
|
| 109 |
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|
| 110 |
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|
| 111 |
+
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|
| 112 |
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],
|
| 113 |
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"split_deg": 0.0345,
|
| 114 |
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"usable": true
|
| 115 |
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},
|
| 116 |
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"right_front": {
|
| 117 |
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"accepted": true,
|
| 118 |
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"against": [
|
| 119 |
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"left_front",
|
| 120 |
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|
| 121 |
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"right_eye",
|
| 122 |
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"left",
|
| 123 |
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|
| 124 |
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],
|
| 125 |
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|
| 126 |
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|
| 127 |
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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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],
|
| 136 |
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"split_deg": 0.01,
|
| 137 |
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"usable": true
|
| 138 |
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}
|
| 139 |
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},
|
| 140 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 141 |
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"device_id": "c9205ac6e17d2d5c",
|
| 142 |
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"factory_root_name": "c9205ac6e17d2d5c",
|
| 143 |
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"files": {
|
| 144 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
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"sha256": "7e9d3653f79369b1c425808db90627c5b60f8410a156da74acd63d6210f2b1fb",
|
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|
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|
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
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"sha256": "d3162e46a7ec364dd4a3bc5677d4af3f2771186eded34fb90d7784887fffa2e1",
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|
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},
|
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 153 |
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"sha256": "50c7236484975b95ed58e1ba286e664beeb3afdbc22a1567754bdd1e34d07c24",
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},
|
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 157 |
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"sha256": "0e99415d955f182333e3a14d1f5ffe50cd43a319b176343d643733a3617ba996",
|
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|
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|
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|
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"runtime": {
|
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"numpy": "2.4.6",
|
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"opencv": "5.0.0",
|
| 192 |
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"scipy": "1.17.1"
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|
| 213 |
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actions/static_manipulation/SM13/session_002/cameras/slam.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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size 717243
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actions/static_manipulation/SM13/session_002/meta.json
CHANGED
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@@ -530,6 +530,10 @@
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|
| 530 |
"primitive": "SM13",
|
| 531 |
"source_session": "20261017/SM13/20261017_110030_session13"
|
| 532 |
},
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| 533 |
"objects": [
|
| 534 |
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|
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| 530 |
"primitive": "SM13",
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"source_session": "20261017/SM13/20261017_110030_session13"
|
| 532 |
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|
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"task": {
|
| 534 |
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"primitive": "SM13",
|
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"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
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},
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actions/static_manipulation/SM13/session_002/motions/hands_mano.npz
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size 4793553
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actions/static_manipulation/SM13/session_003/cameras/poses.npz
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version https://git-lfs.github.com/spec/v1
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size 1082537
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actions/static_manipulation/SM13/session_003/meta.json
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|
| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261029/SM13/20261029_115639_session64",
|
| 4 |
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"session_id": "20261029_115639_session64",
|
| 5 |
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"primitive": "SM13",
|
| 6 |
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"batch": "20261029",
|
| 7 |
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"participant": "lvaoshan",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e3296774a321bb51",
|
| 11 |
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"left": "39042f5fb5da3b12",
|
| 12 |
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"right": "65a3481473d6e2a0"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-30T07:42:18.061413+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
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"duration_s": 125.925,
|
| 22 |
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"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 |
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"offset_s": -0.079751,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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"global_lag_s": -0.08,
|
| 31 |
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"peak_corr": 0.8924,
|
| 32 |
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"reference_imu_first_sample_s": 13691.58374927,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 11,
|
| 35 |
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"window_corr_median": 0.9888688952012069,
|
| 36 |
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"drift_ppm": -431.9510848698887,
|
| 37 |
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| 42 |
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| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
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| 45 |
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| 46 |
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[
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| 47 |
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1.0,
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| 48 |
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0.0,
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| 49 |
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0.0
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| 50 |
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],
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| 51 |
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[
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| 52 |
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0.0,
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0.0,
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[
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0.0,
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1.0,
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0.0
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]
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| 63 |
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| 64 |
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|
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}
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},
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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| 282 |
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|
| 283 |
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},
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| 284 |
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| 285 |
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| 286 |
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| 287 |
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| 288 |
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| 289 |
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],
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| 310 |
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],
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| 334 |
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| 339 |
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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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|
| 355 |
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|
| 356 |
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},
|
| 357 |
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"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 358 |
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"files": [
|
| 359 |
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"mocap_zup.npz",
|
| 360 |
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"tracker0_zup.npz",
|
| 361 |
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"rig_zup.npz",
|
| 362 |
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"cameras_zup.npz"
|
| 363 |
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]
|
| 364 |
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},
|
| 365 |
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|
| 366 |
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"generated_at_utc": "2026-11-02T18:34:00.439708+00:00",
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| 367 |
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"generated_by": "scripts/fit_smplx_dataset.py",
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| 368 |
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"file": "smplx.npz",
|
| 369 |
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"gender": "female",
|
| 370 |
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|
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|
| 372 |
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|
| 373 |
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|
| 374 |
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"observed": false,
|
| 376 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 377 |
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|
| 378 |
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|
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|
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}
|
| 409 |
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|
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|
| 411 |
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|
| 412 |
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"p95_frame": 8.1
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| 413 |
+
},
|
| 414 |
+
"worst_markers": [
|
| 415 |
+
"RElbowIn 11mm",
|
| 416 |
+
"LWristIn 9mm",
|
| 417 |
+
"LForearm 8mm",
|
| 418 |
+
"RUArmHigh 7mm",
|
| 419 |
+
"RWristIn 7mm"
|
| 420 |
+
],
|
| 421 |
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"valid_fraction": 0.9995,
|
| 422 |
+
"qc": {
|
| 423 |
+
"lowest_vertex_mm": {
|
| 424 |
+
"median": 17.9,
|
| 425 |
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"p5": 16.7
|
| 426 |
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},
|
| 427 |
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|
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|
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},
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| 430 |
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|
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|
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|
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|
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|
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"left": {
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-2.73393,
|
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0.61252,
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0.66322
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],
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"in_out_sign": 1,
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"wrist_bend_deg_median": 139.6,
|
| 448 |
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"opposite_sign_bend_deg": 42.8,
|
| 449 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
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"marker_frame_spread_deg": 3.75,
|
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"after": 3.75
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"LHandIn",
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"LHandOut"
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],
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"twist_moved_deg": -136.29,
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"median": -0.65,
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"iqr": [
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-4.3,
|
| 466 |
+
7.7
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| 467 |
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]
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},
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"markers_on_forearm": [
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"LForearm",
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"LWristIn"
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]
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},
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"frames_used": 1500
|
| 476 |
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},
|
| 477 |
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"right": {
|
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"status": "corrected",
|
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"Q_deg": 63.0,
|
| 480 |
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"Q_rotvec": [
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-1.0579,
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},
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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},
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"task": {
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| 527 |
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"primitive": "SM13",
|
| 528 |
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"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
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},
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"objects": [
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{
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"name": "LittleBox3",
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},
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{
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"name": "LittleBox4",
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"source": "mocap",
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{
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"name": "Table",
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"source": "mocap",
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actions/static_manipulation/SM13/session_003/motions/head_rig.npz
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{
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"session": "20261029/SM13/20261029_115639_session64",
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"held_by": "from mocap hands",
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"name": "LittleBox3",
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"source": "mocap",
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"mesh": "objects/LittleBox/littlebox.ply",
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"calibration": {
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"instance": "LittleBox3",
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"rms_mm": 0.51
|
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},
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"valid_pct": 99.75,
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|
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"vision_source": null
|
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},
|
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{
|
| 25 |
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"name": "LittleBox4",
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"object_type": "LittleBox",
|
| 27 |
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"source": "mocap",
|
| 28 |
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"pose_frame": "mesh",
|
| 29 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 30 |
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"calibration": {
|
| 31 |
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"instance": "LittleBox4",
|
| 32 |
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"rms_mm": 0.42
|
| 33 |
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},
|
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"valid_pct": 99.99,
|
| 35 |
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"verified_pct": 99.99,
|
| 36 |
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"moving_pct": 78.57,
|
| 37 |
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"vision_source": null
|
| 38 |
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},
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| 39 |
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{
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"name": "Table",
|
| 41 |
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"object_type": "Table",
|
| 42 |
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"source": "mocap",
|
| 43 |
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"pose_frame": "rigid_body",
|
| 44 |
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"mesh": null,
|
| 45 |
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"calibration": null,
|
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"valid_pct": 99.99,
|
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"verified_pct": 99.99,
|
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"moving_pct": 0.0,
|
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"vision_source": null
|
| 50 |
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}
|
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],
|
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"absent": [],
|
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"object_list": {
|
| 54 |
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"status": "corrected",
|
| 55 |
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"notes": [],
|
| 56 |
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"declared": [
|
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"LittleBox3",
|
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|
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"Table0"
|
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],
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"listed": [
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{
|
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"name": "LittleBox3",
|
| 64 |
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"object": "LittleBox",
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"source": "mocap",
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"needs_video_check": false
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},
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{
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"name": "LittleBox4",
|
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"object": "LittleBox",
|
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"source": "mocap",
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"needs_video_check": false
|
| 73 |
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},
|
| 74 |
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{
|
| 75 |
+
"name": "Table",
|
| 76 |
+
"object": null,
|
| 77 |
+
"source": "mocap",
|
| 78 |
+
"needs_video_check": false
|
| 79 |
+
}
|
| 80 |
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]
|
| 81 |
+
},
|
| 82 |
+
"notes": []
|
| 83 |
+
}
|
actions/static_manipulation/SM13/session_003/motions/objects.npz
ADDED
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size 1878328
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actions/static_manipulation/SM13/session_003/motions/skeleton.npz
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version https://git-lfs.github.com/spec/v1
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size 8633328
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actions/static_manipulation/SM13/session_003/motions/smplx.npz
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