Release update 2026-11-05: new sessions, instructions, annotations (part 117)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +16 -0
- actions/long_horizon_composite/LH10/session_009/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH10/session_009/raw/mocap/Table2.csv +0 -0
- actions/long_horizon_composite/LH10/session_009/raw/mocap/Table2.trc +0 -0
- actions/long_horizon_composite/LH10/session_009/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH10/session_009/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH10/session_009/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH10/session_009/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH10/session_009/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH10/session_009/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH10/session_009/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH10/session_009/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH10/session_009/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH10/session_009/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH10/session_009/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH10/session_009/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH10/session_009/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_009/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_010/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH10/session_010/meta.json +568 -0
- actions/long_horizon_composite/LH10/session_010/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH10/session_010/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH10/session_010/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH10/session_010/motions/objects.json +143 -0
- actions/long_horizon_composite/LH10/session_010/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH10/session_010/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH10/session_010/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH10/session_010/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH10/session_010/raw/manifest.json +396 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/Body0.bvh +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox1.csv +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox1.trc +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox2.csv +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox2.trc +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox3.csv +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox3.trc +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH10/session_010/raw/mocap/Table.csv +0 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LH10/20261028_104240_session141",
|
| 4 |
+
"session_id": "20261028_104240_session141",
|
| 5 |
+
"primitive": "LH10",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:17:00.659761+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": 133.05833333333334,
|
| 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": -0.088674,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9705,
|
| 32 |
+
"reference_imu_first_sample_s": 32361.081142747,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9666936637998309,
|
| 36 |
+
"drift_ppm": -5.940129430486247,
|
| 37 |
+
"drift_se_ppm": 7.390188083795125,
|
| 38 |
+
"drift_ms_over_take": -0.7903342207261953,
|
| 39 |
+
"lag_scatter_ms": 0.8067386931179061,
|
| 40 |
+
"lag_range_ms": 3.041982362811363
|
| 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": 27068,
|
| 76 |
+
"n_gyro": 27063,
|
| 77 |
+
"t_start": -0.09556849495896255,
|
| 78 |
+
"t_end": 133.2390567990438
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26903,
|
| 82 |
+
"n_gyro": 26896,
|
| 83 |
+
"t_start": 0.012046880041060498,
|
| 84 |
+
"t_end": 133.4100236830414
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26953,
|
| 88 |
+
"n_gyro": 26953,
|
| 89 |
+
"t_start": -0.8049486889580579,
|
| 90 |
+
"t_end": 132.4063675830435
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26976,
|
| 94 |
+
"n_gyro": 26976,
|
| 95 |
+
"t_start": -0.8321827239564585,
|
| 96 |
+
"t_end": 132.4081560900409
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13348,
|
| 100 |
+
"t_start": 0.094856297040286,
|
| 101 |
+
"t_end": 133.56494756904027
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13320,
|
| 105 |
+
"t_start": -0.7872976109578589,
|
| 106 |
+
"t_end": 132.40231301604177
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13323,
|
| 110 |
+
"t_start": -0.8144926409590256,
|
| 111 |
+
"t_end": 132.40508764004295
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 32361.20724,
|
| 118 |
+
"frames": 3991,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04005146968808607,
|
| 124 |
+
"t_end": 133.04007346968825,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 32361.207221,
|
| 131 |
+
"frames": 3991,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03982214865715708,
|
| 137 |
+
"t_end": 133.03983314865724,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 32361.207234,
|
| 144 |
+
"frames": 3991,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03987598111013416,
|
| 150 |
+
"t_end": 133.0398979811103,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
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},
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},
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},
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| 350 |
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| 351 |
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| 352 |
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"mocap_zup.npz",
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| 353 |
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"tracker0_zup.npz",
|
| 354 |
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"rig_zup.npz",
|
| 355 |
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"cameras_zup.npz"
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| 356 |
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]
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| 357 |
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},
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"file": "smplx.npz",
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| 362 |
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"gender": "female",
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| 364 |
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"betas_source": "participant median (derived/smplx/participants.json)",
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| 365 |
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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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| 366 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 367 |
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| 368 |
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"observed": false,
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| 369 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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0.030596531927585602,
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0.035176414996385574,
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}
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},
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|
| 409 |
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|
| 410 |
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|
| 411 |
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},
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| 412 |
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"worst_markers": [
|
| 413 |
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"RElbowIn 18mm",
|
| 414 |
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"STRN 12mm",
|
| 415 |
+
"CLAV 11mm",
|
| 416 |
+
"LThigh 11mm",
|
| 417 |
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"RKneeIn 9mm"
|
| 418 |
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],
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| 419 |
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"valid_fraction": 0.9872,
|
| 420 |
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"lowest_vertex_mm": {
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"median": 20.7,
|
| 423 |
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"p5": 13.6
|
| 424 |
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},
|
| 425 |
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| 426 |
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|
| 427 |
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},
|
| 428 |
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"surface_term": {
|
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"weight": 1.0,
|
| 430 |
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|
| 431 |
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|
| 432 |
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|
| 433 |
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},
|
| 434 |
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"shape_source": "participant median",
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| 435 |
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| 436 |
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"left": {
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"status": "corrected",
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-0.16782,
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0.26798
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],
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|
| 447 |
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|
| 448 |
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},
|
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"LWristOut",
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"LHandOut"
|
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],
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-8.0,
|
| 464 |
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4.3
|
| 465 |
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]
|
| 466 |
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},
|
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|
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|
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"LElbowIn",
|
| 470 |
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"LForearm",
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| 471 |
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"LWristIn"
|
| 472 |
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]
|
| 473 |
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},
|
| 474 |
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|
| 475 |
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},
|
| 476 |
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"right": {
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"status": "corrected",
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|
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|
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0.92999,
|
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0.06532,
|
| 482 |
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|
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],
|
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|
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|
| 486 |
+
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|
| 487 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 488 |
+
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|
| 489 |
+
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|
| 490 |
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|
| 491 |
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"after": 4.33
|
| 492 |
+
},
|
| 493 |
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|
| 494 |
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"RWristOut",
|
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"RHandIn",
|
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"RHandOut"
|
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],
|
| 498 |
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|
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|
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|
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"median": -0.0,
|
| 502 |
+
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|
| 503 |
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-2.0,
|
| 504 |
+
7.0
|
| 505 |
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]
|
| 506 |
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},
|
| 507 |
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"wrist_total_deg_median_after": 17.5,
|
| 508 |
+
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|
| 509 |
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"RElbow",
|
| 510 |
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"RForearm",
|
| 511 |
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"RWristIn"
|
| 512 |
+
]
|
| 513 |
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},
|
| 514 |
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"frames_used": 1500
|
| 515 |
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},
|
| 516 |
+
"generated_at_utc": "2026-11-02T15:02:59.065664+00:00",
|
| 517 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"release": {
|
| 521 |
+
"release_path": "actions/long_horizon_composite/LH10/session_010",
|
| 522 |
+
"family": "long_horizon_composite",
|
| 523 |
+
"primitive": "LH10",
|
| 524 |
+
"source_session": "20261028/LH10/20261028_104240_session141"
|
| 525 |
+
},
|
| 526 |
+
"task": {
|
| 527 |
+
"primitive": "LH10",
|
| 528 |
+
"instruction": "1. The operator will tell you the shelf is already sorted and just needs moving to the table. 2. Do what you think is right. 3. Tell the operator when you are finished."
|
| 529 |
+
},
|
| 530 |
+
"objects": [
|
| 531 |
+
{
|
| 532 |
+
"name": "LittleBox1",
|
| 533 |
+
"object_type": "LittleBox",
|
| 534 |
+
"source": "mocap",
|
| 535 |
+
"pose_frame": "rigid_body"
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
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actions/long_horizon_composite/LH10/session_010/motions/objects.json
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| 1 |
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| 19 |
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| 27 |
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| 29 |
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| 30 |
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