Release update 2026-11-05: 5760 sessions, instructions, annotations (part 194)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +25 -0
- actions/locomanipulation/LM02/session_035/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM02/session_035/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM02/session_035/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM02/session_035/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM02/session_035/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM02/session_035/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM02/session_035/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM02/session_035/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM02/session_035/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM02/session_035/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM02/session_035/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM02/session_035/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM02/session_035/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM02/session_035/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM02/session_036/cameras/poses.npz +3 -0
- actions/locomanipulation/LM02/session_036/meta.json +542 -0
- actions/locomanipulation/LM02/session_036/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM02/session_036/motions/markers.npz +3 -0
- actions/locomanipulation/LM02/session_036/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM02/session_036/motions/objects.json +118 -0
- actions/locomanipulation/LM02/session_036/motions/objects.npz +3 -0
- actions/locomanipulation/LM02/session_036/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM02/session_036/motions/smplx.npz +3 -0
- actions/locomanipulation/LM02/session_036/raw/audio.wav +3 -0
- actions/locomanipulation/LM02/session_036/raw/manifest.json +374 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/LittleBox4.csv +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/LittleBox4.trc +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/LittleBox5.csv +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/LittleBox5.trc +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/LittleBox6.csv +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/LittleBox6.trc +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Table.csv +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Table.trc +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Table2.csv +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Table2.trc +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM02/session_036/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM02/session_036/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM02/session_036/raw/sensors/robocap_imu_right.db +3 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261102/LM02/20261102_120844_session198",
|
| 4 |
+
"session_id": "20261102_120844_session198",
|
| 5 |
+
"primitive": "LM02",
|
| 6 |
+
"batch": "20261102",
|
| 7 |
+
"participant": "wangzhixin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T21:40:24.861298+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": 125.025,
|
| 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": -0.082593,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9645,
|
| 32 |
+
"reference_imu_first_sample_s": 23062.842665935,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9823212673953947,
|
| 36 |
+
"drift_ppm": -443.90975083689864,
|
| 37 |
+
"drift_se_ppm": 264.0181424878539,
|
| 38 |
+
"drift_ms_over_take": -55.49611735045961,
|
| 39 |
+
"lag_scatter_ms": 25.046960216054767,
|
| 40 |
+
"lag_range_ms": 102.20494456808883
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25139,
|
| 76 |
+
"n_gyro": 25132,
|
| 77 |
+
"t_start": -0.099130702180333,
|
| 78 |
+
"t_end": 125.22830176681884
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25094,
|
| 82 |
+
"n_gyro": 25089,
|
| 83 |
+
"t_start": 0.009805922821328014,
|
| 84 |
+
"t_end": 125.39268074881977
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24695,
|
| 88 |
+
"n_gyro": 24705,
|
| 89 |
+
"t_start": -0.7846824421802702,
|
| 90 |
+
"t_end": 123.93616565081823
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24636,
|
| 94 |
+
"n_gyro": 24636,
|
| 95 |
+
"t_start": -0.8020929471794042,
|
| 96 |
+
"t_end": 123.93168567382156
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12547,
|
| 100 |
+
"t_start": 0.09099425682063537,
|
| 101 |
+
"t_end": 125.55099298282141
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12471,
|
| 105 |
+
"t_start": -0.7706185111791236,
|
| 106 |
+
"t_end": 123.928958506821
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12473,
|
| 110 |
+
"t_start": -0.7936115801793456,
|
| 111 |
+
"t_end": 123.92631680682018
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 23062.963063,
|
| 118 |
+
"frames": 3750,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040146524616942944,
|
| 124 |
+
"t_end": 125.00679052461703,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 23062.963025,
|
| 131 |
+
"frames": 3750,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039715100468242046,
|
| 137 |
+
"t_end": 125.00634810046824,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 23062.96305,
|
| 144 |
+
"frames": 3750,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.039608259058808645,
|
| 150 |
+
"t_end": 125.00624125905881,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 23062.963077,
|
| 157 |
+
"frames": 3750,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03954770046686844,
|
| 163 |
+
"t_end": 125.00619170046696,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
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|
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"block": "20261102-afternoon",
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"block_assignment": "trc",
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"plane_status": "contacts span only 0.73 m",
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"floor": {
|
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"sole_marker_p1_mm": 51.6,
|
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|
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|
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|
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|
| 337 |
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},
|
| 338 |
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"camera_pose_source": "provider T_tracker0_cam",
|
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"files": [
|
| 340 |
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"mocap_zup.npz",
|
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|
| 342 |
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"rig_zup.npz",
|
| 343 |
+
"cameras_zup.npz"
|
| 344 |
+
]
|
| 345 |
+
},
|
| 346 |
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"smplx": {
|
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"generated_at_utc": "2026-11-04T04:43:08.494257+00:00",
|
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"generated_by": "scripts/fit_smplx_dataset.py",
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"file": "smplx.npz",
|
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"gender": "female",
|
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"n_betas": 16,
|
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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 |
+
"hands": {
|
| 356 |
+
"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",
|
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"left": {
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"LHandIn": [
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|
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|
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|
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|
| 391 |
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"marker_rmse_mm": {
|
| 392 |
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"median_frame": 5.84,
|
| 393 |
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"p95_frame": 12.47
|
| 394 |
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|
| 395 |
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"worst_markers": [
|
| 396 |
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"LShin 17mm",
|
| 397 |
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"LKneeIn 15mm",
|
| 398 |
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"LThigh 15mm",
|
| 399 |
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"RElbowIn 13mm",
|
| 400 |
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"WaistLFront 12mm"
|
| 401 |
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|
| 402 |
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"valid_fraction": 1.0,
|
| 403 |
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"qc": {
|
| 404 |
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|
| 405 |
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"median": 16.0,
|
| 406 |
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"p5": 7.7
|
| 407 |
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|
| 408 |
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"frames_checked": 501,
|
| 409 |
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|
| 410 |
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|
| 411 |
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"surface_term": {
|
| 412 |
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"weight": 1.0,
|
| 413 |
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|
| 414 |
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"markers_on_surface": 52,
|
| 415 |
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"surface_rmse_mm_median": 12.45
|
| 416 |
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},
|
| 417 |
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"shape_source": "participant median",
|
| 418 |
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"wrist_correction": {
|
| 419 |
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"left": {
|
| 420 |
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"status": "corrected",
|
| 421 |
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"Q_deg": 25.29,
|
| 422 |
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|
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|
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|
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|
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|
| 427 |
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|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 431 |
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"opposite_sign_bend_deg": 127.5,
|
| 432 |
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|
| 433 |
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"marker_frame_spread_deg": 2.86,
|
| 434 |
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"hand_vs_marker_frame_deg": {
|
| 435 |
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"before": 25.39,
|
| 436 |
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"after": 2.86
|
| 437 |
+
},
|
| 438 |
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|
| 439 |
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"LWristOut",
|
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"LHandIn",
|
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"LHandOut"
|
| 442 |
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],
|
| 443 |
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|
| 444 |
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"twist_moved_deg": 61.16,
|
| 445 |
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|
| 446 |
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|
| 447 |
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"iqr": [
|
| 448 |
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-7.6,
|
| 449 |
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8.9
|
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]
|
| 451 |
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},
|
| 452 |
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"wrist_total_deg_median_after": 17.4,
|
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|
| 454 |
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"LElbowIn",
|
| 455 |
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|
| 456 |
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|
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]
|
| 458 |
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},
|
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|
| 460 |
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|
| 461 |
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"right": {
|
| 462 |
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|
| 463 |
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|
| 464 |
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|
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|
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|
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|
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|
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|
| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 475 |
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|
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|
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|
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|
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},
|
| 480 |
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|
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|
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|
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],
|
| 484 |
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|
| 485 |
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|
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|
| 487 |
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|
| 488 |
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|
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-4.3,
|
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+
3.9
|
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]
|
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},
|
| 493 |
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"wrist_total_deg_median_after": 24.5,
|
| 494 |
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"markers_on_forearm": [
|
| 495 |
+
"RForearm",
|
| 496 |
+
"RWristIn",
|
| 497 |
+
"RWristOut"
|
| 498 |
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]
|
| 499 |
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},
|
| 500 |
+
"frames_used": 1500
|
| 501 |
+
},
|
| 502 |
+
"generated_at_utc": "2026-11-04T04:43:11.793653+00:00",
|
| 503 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 504 |
+
}
|
| 505 |
+
},
|
| 506 |
+
"release": {
|
| 507 |
+
"release_path": "actions/locomanipulation/LM02/session_036",
|
| 508 |
+
"family": "locomanipulation",
|
| 509 |
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"primitive": "LM02",
|
| 510 |
+
"source_session": "20261102/LM02/20261102_120844_session198"
|
| 511 |
+
},
|
| 512 |
+
"task": {
|
| 513 |
+
"primitive": "LM02",
|
| 514 |
+
"instruction": "Take an object off the waist-height shelf, carry it across the room, and set it down on the floor. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 515 |
+
},
|
| 516 |
+
"objects": [
|
| 517 |
+
{
|
| 518 |
+
"name": "LittleBox4",
|
| 519 |
+
"object_type": "LittleBox",
|
| 520 |
+
"source": "mocap",
|
| 521 |
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"pose_frame": "mesh"
|
| 522 |
+
},
|
| 523 |
+
{
|
| 524 |
+
"name": "LittleBox5",
|
| 525 |
+
"object_type": "LittleBox",
|
| 526 |
+
"source": "mocap",
|
| 527 |
+
"pose_frame": "mesh"
|
| 528 |
+
},
|
| 529 |
+
{
|
| 530 |
+
"name": "LittleBox6",
|
| 531 |
+
"object_type": "LittleBox",
|
| 532 |
+
"source": "mocap",
|
| 533 |
+
"pose_frame": "mesh"
|
| 534 |
+
},
|
| 535 |
+
{
|
| 536 |
+
"name": "Table",
|
| 537 |
+
"object_type": "Table",
|
| 538 |
+
"source": "mocap",
|
| 539 |
+
"pose_frame": "rigid_body"
|
| 540 |
+
}
|
| 541 |
+
]
|
| 542 |
+
}
|
actions/locomanipulation/LM02/session_036/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:ad462ec913ba4cfd38c723d9de65edff809b2c9f271bf87615abb4bcabff5a71
|
| 3 |
+
size 1117247
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| 1 |
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{
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"primitive_id": "LM02",
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"session_id": "20261102_120844_session198",
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| 6 |
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| 7 |
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