Release update 2026-11-05: new sessions, instructions, annotations (part 335)
Browse files- .gitattributes +9 -0
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- actions/locomanipulation/LM34/session_031/cameras/poses.npz +3 -0
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- actions/locomanipulation/LM34/session_031/motions/markers.npz +3 -0
- actions/locomanipulation/LM34/session_031/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM34/session_031/motions/objects.json +42 -0
- actions/locomanipulation/LM34/session_031/motions/objects.npz +3 -0
- actions/locomanipulation/LM34/session_031/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM34/session_031/motions/smplx.npz +3 -0
- actions/locomanipulation/LM34/session_031/raw/audio.wav +3 -0
- actions/locomanipulation/LM34/session_031/raw/manifest.json +286 -0
- actions/locomanipulation/LM34/session_031/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM34/session_031/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM34/session_031/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM34/session_031/raw/mocap/LittleBox6.csv +0 -0
- actions/locomanipulation/LM34/session_031/raw/mocap/LittleBox6.trc +0 -0
- actions/locomanipulation/LM34/session_031/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM34/session_031/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM34/session_031/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_031/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM34/session_031/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM34/session_031/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM34/session_031/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM34/session_031/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM34/session_031/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM34/session_031/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM34/session_031/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM34/session_031/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM34/session_031/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM34/session_032/cameras/poses.npz +3 -0
- actions/locomanipulation/LM34/session_032/meta.json +618 -0
- actions/locomanipulation/LM34/session_032/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM34/session_032/motions/markers.npz +3 -0
- actions/locomanipulation/LM34/session_032/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM34/session_032/motions/smplx.npz +3 -0
- actions/locomanipulation/LM34/session_032/raw/audio.wav +3 -0
- actions/locomanipulation/LM34/session_032/raw/manifest.json +263 -0
- actions/locomanipulation/LM34/session_032/raw/mocap/Body0.bvh +0 -0
.gitattributes
CHANGED
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actions/locomanipulation/LM34/session_030/motions/smplx.npz
CHANGED
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actions/locomanipulation/LM34/session_031/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/LM34/20261027_045555_session62",
|
| 4 |
+
"session_id": "20261027_045555_session62",
|
| 5 |
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"primitive": "LM34",
|
| 6 |
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"batch": "20261027",
|
| 7 |
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"participant": "wangjingjing",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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| 13 |
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},
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| 14 |
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| 15 |
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"generated_by": "scripts/sync_dataset.py",
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| 16 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
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| 18 |
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| 22 |
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| 23 |
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},
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| 24 |
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"alignment": {
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| 25 |
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"reference_imu": "imu_head_right",
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| 26 |
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"model": "offset (median of windows)",
|
| 27 |
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"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": -0.083615,
|
| 29 |
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"rate": 0.0,
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| 30 |
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"global_lag_s": -0.085,
|
| 31 |
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"peak_corr": 0.9434,
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| 32 |
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| 36 |
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| 44 |
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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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| 53 |
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0.0,
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-1.0
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[
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0.0
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]
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| 63 |
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| 64 |
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| 230 |
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"definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-d3ec507861190d10",
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| 261 |
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},
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| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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| 264 |
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},
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| 265 |
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"canonical": {
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| 266 |
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"generated_at_utc": "2026-10-28T23:23:37.811129+00:00",
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| 267 |
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| 268 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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| 269 |
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| 270 |
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]
|
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],
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"block": "20261027-morning",
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},
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|
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},
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},
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|
| 339 |
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"files": [
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| 340 |
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"mocap_zup.npz",
|
| 341 |
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"tracker0_zup.npz",
|
| 342 |
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"rig_zup.npz",
|
| 343 |
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"cameras_zup.npz"
|
| 344 |
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]
|
| 345 |
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},
|
| 346 |
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|
| 347 |
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"generated_at_utc": "2026-10-29T09:20:57.045057+00:00",
|
| 348 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 349 |
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"file": "smplx.npz",
|
| 350 |
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"gender": "female",
|
| 351 |
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"n_betas": 16,
|
| 352 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 353 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
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"hands": {
|
| 356 |
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"observed": false,
|
| 357 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 358 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
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|
| 360 |
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|
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|
| 362 |
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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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|
| 392 |
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"RWristIn 12mm",
|
| 393 |
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"LElbow 8mm",
|
| 394 |
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"LWristOut 8mm",
|
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|
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],
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|
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|
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"p5": 9.7
|
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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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"instruction": "Carry the object in one hand and, while walking, pass it to your other hand. Keep passing it back and forth as you walk."
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{
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| 34 |
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"name": "LittleBox6",
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"object": "LittleBox",
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM34/20261028_100126_session108",
|
| 4 |
+
"session_id": "20261028_100126_session108",
|
| 5 |
+
"primitive": "LM34",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T20:03:30.821964+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": 144.15833333333333,
|
| 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": -0.088136,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9959,
|
| 32 |
+
"reference_imu_first_sample_s": 33383.765063642,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9964911739102045,
|
| 36 |
+
"drift_ppm": 4.193746528166136,
|
| 37 |
+
"drift_se_ppm": 2.0685443336687754,
|
| 38 |
+
"drift_ms_over_take": 0.6045285620351485,
|
| 39 |
+
"lag_scatter_ms": 0.25669960103093115,
|
| 40 |
+
"lag_range_ms": 0.9909253535611007
|
| 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": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 29103,
|
| 76 |
+
"n_gyro": 29097,
|
| 77 |
+
"t_start": -0.09508772276834185,
|
| 78 |
+
"t_end": 144.35589467822635
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 28961,
|
| 82 |
+
"n_gyro": 28955,
|
| 83 |
+
"t_start": 0.020199652227772674,
|
| 84 |
+
"t_end": 144.52552585622968
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29131,
|
| 88 |
+
"n_gyro": 29131,
|
| 89 |
+
"t_start": -0.7610902977708361,
|
| 90 |
+
"t_end": 142.83611149222767
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 28997,
|
| 94 |
+
"n_gyro": 28997,
|
| 95 |
+
"t_start": -0.8526858677674068,
|
| 96 |
+
"t_end": 142.8446885342323
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14459,
|
| 100 |
+
"t_start": 0.10661711023337142,
|
| 101 |
+
"t_end": 144.68635213722652
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14359,
|
| 105 |
+
"t_start": -0.7481129277680635,
|
| 106 |
+
"t_end": 142.83301758723016
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14369,
|
| 110 |
+
"t_start": -0.8406845807717515,
|
| 111 |
+
"t_end": 142.8398827702308
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 33383.890738,
|
| 118 |
+
"frames": 4324,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04009267767602745,
|
| 124 |
+
"t_end": 144.14001467767727,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 33383.890695,
|
| 131 |
+
"frames": 4324,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03986191230566641,
|
| 137 |
+
"t_end": 144.13979491230336,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 33383.890725,
|
| 144 |
+
"frames": 4324,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.040197897438217695,
|
| 150 |
+
"t_end": 144.14011989743946,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 33383.89075,
|
| 157 |
+
"frames": 4324,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.040145620723221725,
|
| 163 |
+
"t_end": 144.1400786207209,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 33383.890712,
|
| 170 |
+
"frames": 4319,
|
| 171 |
+
"pts_gaps": 5,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": -0.9,
|
| 177 |
+
"corr": 0.762,
|
| 178 |
+
"err_ms": 3.3
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 49.0,
|
| 182 |
+
"corr": 0.762,
|
| 183 |
+
"err_ms": 46.6
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.03990641232436923,
|
| 188 |
+
"t_end": 144.15646241232523,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 33383.890673,
|
| 195 |
+
"frames": 4324,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": 0.002315656053021164,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.039788682287933114,
|
| 201 |
+
"t_end": 144.13972168228563,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 33382.994816,
|
| 208 |
+
"frames": 4310,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.8583839737716813,
|
| 214 |
+
"t_end": 142.7755350262282,
|
| 215 |
+
"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 33383.0874,
|
| 221 |
+
"frames": 4308,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
+
"timeshift_cam_imu_s": null,
|
| 225 |
+
"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.7657999737735123,
|
| 227 |
+
"t_end": 142.8020390262295,
|
| 228 |
+
"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-LM34-S01-xiaobo-01p2-1.mp4",
|
| 233 |
+
"frames": 4325,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
+
"clock": "nokov (frame index)",
|
| 236 |
+
"t_start": 0.0,
|
| 237 |
+
"t_end": 144.13333333333333
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
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|
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|
| 618 |
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actions/locomanipulation/LM34/session_032/motions/head_rig.npz
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version https://git-lfs.github.com/spec/v1
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ADDED
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version https://git-lfs.github.com/spec/v1
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| 186 |
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| 190 |
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|
| 191 |
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|
| 192 |
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{
|
| 193 |
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|
| 194 |
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| 195 |
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| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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| 209 |
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{
|
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|
| 212 |
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| 213 |
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| 218 |
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|
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|
| 221 |
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| 222 |
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| 227 |
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|
| 228 |
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{
|
| 229 |
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|
| 230 |
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|
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{
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"source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
|
| 239 |
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|
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|
| 247 |
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"mocap_capture": {
|
| 248 |
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|
| 249 |
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|
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|
| 251 |
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|
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|
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|
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|
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
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|
| 260 |
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|
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|
| 262 |
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|
| 263 |
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}
|
actions/locomanipulation/LM34/session_032/raw/mocap/Body0.bvh
ADDED
|
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|
|