Release update 2026-11-05: new sessions, instructions, annotations (part 119)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/long_horizon_composite/LH10/session_012/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH10/session_012/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH10/session_012/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH10/session_012/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH10/session_012/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH10/session_012/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH10/session_012/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH10/session_012/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH10/session_012/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH10/session_012/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH10/session_012/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH10/session_012/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH10/session_012/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_012/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_013/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH10/session_013/meta.json +563 -0
- actions/long_horizon_composite/LH10/session_013/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH10/session_013/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH10/session_013/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH10/session_013/motions/objects.json +124 -0
- actions/long_horizon_composite/LH10/session_013/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH10/session_013/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH10/session_013/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH10/session_013/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH10/session_013/raw/manifest.json +374 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/Body0.bvh +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox1.csv +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox1.trc +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox2.csv +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox2.trc +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox3.csv +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox3.trc +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH10/session_013/raw/mocap/Tracker0.trc +0 -0
.gitattributes
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actions/long_horizon_composite/LH10/session_012/raw/mocap/Tracker0.csv
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actions/long_horizon_composite/LH10/session_012/raw/mocap/Tracker0.trc
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actions/long_horizon_composite/LH10/session_012/raw/sensors/robocap_imu_left.db
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/LH10/20261031_044422_session53",
|
| 4 |
+
"session_id": "20261031_044422_session53",
|
| 5 |
+
"primitive": "LH10",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:50:26.266119+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": 145.15833333333333,
|
| 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": -0.083178,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9932,
|
| 32 |
+
"reference_imu_first_sample_s": 13464.609141771,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9956658705400768,
|
| 36 |
+
"drift_ppm": 7.853217005552536,
|
| 37 |
+
"drift_se_ppm": 4.5233100257768335,
|
| 38 |
+
"drift_ms_over_take": 1.1398944483559508,
|
| 39 |
+
"lag_scatter_ms": 0.5613280121952897,
|
| 40 |
+
"lag_range_ms": 2.4982113322711275
|
| 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": 29303,
|
| 76 |
+
"n_gyro": 29297,
|
| 77 |
+
"t_start": -0.09469387827815236,
|
| 78 |
+
"t_end": 145.34845795872204
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 29161,
|
| 82 |
+
"n_gyro": 29154,
|
| 83 |
+
"t_start": 0.009984057722218762,
|
| 84 |
+
"t_end": 145.51192848672142
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29413,
|
| 88 |
+
"n_gyro": 29426,
|
| 89 |
+
"t_start": -0.9315200012788716,
|
| 90 |
+
"t_end": 144.0592821707214
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 29223,
|
| 94 |
+
"n_gyro": 29224,
|
| 95 |
+
"t_start": -0.7711038792786291,
|
| 96 |
+
"t_end": 144.05032562472113
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14559,
|
| 100 |
+
"t_start": 0.09341618272079931,
|
| 101 |
+
"t_end": 145.6733977527219
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14498,
|
| 105 |
+
"t_start": -0.9186540872779312,
|
| 106 |
+
"t_end": 144.05147915272207
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14482,
|
| 110 |
+
"t_start": -0.7542280072794108,
|
| 111 |
+
"t_end": 144.05594606972224
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 13464.729517,
|
| 118 |
+
"frames": 4354,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.0397517901637605,
|
| 124 |
+
"t_end": 145.13982979016325,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 13464.729498,
|
| 131 |
+
"frames": 4354,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03954502479970533,
|
| 137 |
+
"t_end": 145.1396230247992,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 13464.729511,
|
| 144 |
+
"frames": 4354,
|
| 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": 0.039864009930139485,
|
| 150 |
+
"t_end": 145.13993100992954,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 13464.729523,
|
| 157 |
+
"frames": 4354,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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},
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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},
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[
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0.0,
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1.0
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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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},
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| 357 |
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| 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": "2026-11-03T12:08:38.981163+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",
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| 369 |
+
"gender": "female",
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| 370 |
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|
| 371 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
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| 372 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 373 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 374 |
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"hands": {
|
| 375 |
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"observed": false,
|
| 376 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 377 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 378 |
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],
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0.02649805136024952
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]
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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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|
| 413 |
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},
|
| 414 |
+
"worst_markers": [
|
| 415 |
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"LThigh 16mm",
|
| 416 |
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"RKnee 16mm",
|
| 417 |
+
"LKneeIn 14mm",
|
| 418 |
+
"CLAV 14mm",
|
| 419 |
+
"RKneeIn 14mm"
|
| 420 |
+
],
|
| 421 |
+
"valid_fraction": 1.0,
|
| 422 |
+
"qc": {
|
| 423 |
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"lowest_vertex_mm": {
|
| 424 |
+
"median": 10.1,
|
| 425 |
+
"p5": 2.9
|
| 426 |
+
},
|
| 427 |
+
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|
| 428 |
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|
| 429 |
+
},
|
| 430 |
+
"surface_term": {
|
| 431 |
+
"weight": 1.0,
|
| 432 |
+
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|
| 433 |
+
"markers_on_surface": 52,
|
| 434 |
+
"surface_rmse_mm_median": 14.44
|
| 435 |
+
},
|
| 436 |
+
"shape_source": "participant median",
|
| 437 |
+
"wrist_correction": {
|
| 438 |
+
"left": {
|
| 439 |
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"status": "corrected",
|
| 440 |
+
"Q_deg": 83.75,
|
| 441 |
+
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|
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1.39564,
|
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|
| 444 |
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-0.29753
|
| 445 |
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],
|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
+
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|
| 450 |
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|
| 451 |
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|
| 452 |
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"before": 83.36,
|
| 453 |
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|
| 454 |
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},
|
| 455 |
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"LHandOut"
|
| 458 |
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],
|
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|
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|
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"median": 0.03,
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| 463 |
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|
| 464 |
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-2.7,
|
| 465 |
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7.9
|
| 466 |
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]
|
| 467 |
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},
|
| 468 |
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|
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|
| 470 |
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"LElbowIn",
|
| 471 |
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"LForearm",
|
| 472 |
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"LWristIn",
|
| 473 |
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"LWristOut"
|
| 474 |
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]
|
| 475 |
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},
|
| 476 |
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"frames_used": 1500
|
| 477 |
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},
|
| 478 |
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"right": {
|
| 479 |
+
"status": "corrected",
|
| 480 |
+
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|
| 481 |
+
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|
| 482 |
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1.27947,
|
| 483 |
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0.24345,
|
| 484 |
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0.50303
|
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],
|
| 486 |
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"in_out_sign": 1,
|
| 487 |
+
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|
| 488 |
+
"opposite_sign_bend_deg": 96.5,
|
| 489 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 490 |
+
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|
| 491 |
+
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|
| 492 |
+
"before": 80.28,
|
| 493 |
+
"after": 2.42
|
| 494 |
+
},
|
| 495 |
+
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|
| 496 |
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"RWristIn",
|
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"RHandIn",
|
| 498 |
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"RHandOut"
|
| 499 |
+
],
|
| 500 |
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|
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|
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|
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"median": -0.27,
|
| 504 |
+
"iqr": [
|
| 505 |
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-3.0,
|
| 506 |
+
4.3
|
| 507 |
+
]
|
| 508 |
+
},
|
| 509 |
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"wrist_total_deg_median_after": 21.7,
|
| 510 |
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|
| 511 |
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"RForearm",
|
| 512 |
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"RWristOut"
|
| 513 |
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]
|
| 514 |
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},
|
| 515 |
+
"frames_used": 1500
|
| 516 |
+
},
|
| 517 |
+
"generated_at_utc": "2026-11-03T12:08:42.175425+00:00",
|
| 518 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 519 |
+
}
|
| 520 |
+
},
|
| 521 |
+
"release": {
|
| 522 |
+
"release_path": "actions/long_horizon_composite/LH10/session_013",
|
| 523 |
+
"family": "long_horizon_composite",
|
| 524 |
+
"primitive": "LH10",
|
| 525 |
+
"source_session": "20261031/LH10/20261031_044422_session53"
|
| 526 |
+
},
|
| 527 |
+
"task": {
|
| 528 |
+
"primitive": "LH10",
|
| 529 |
+
"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."
|
| 530 |
+
},
|
| 531 |
+
"objects": [
|
| 532 |
+
{
|
| 533 |
+
"name": "LittleBox1",
|
| 534 |
+
"object_type": "LittleBox",
|
| 535 |
+
"source": "mocap",
|
| 536 |
+
"pose_frame": "rigid_body"
|
| 537 |
+
},
|
| 538 |
+
{
|
| 539 |
+
"name": "LittleBox2",
|
| 540 |
+
"object_type": "LittleBox",
|
| 541 |
+
"source": "mocap",
|
| 542 |
+
"pose_frame": "mesh"
|
| 543 |
+
},
|
| 544 |
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{
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