Release update 2026-11-05: new sessions, instructions, annotations (part 24)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +28 -0
- actions/static_manipulation/SM21/session_010/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM21/session_010/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM21/session_010/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM21/session_010/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM21/session_010/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM21/session_010/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM21/session_010/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM21/session_010/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM21/session_010/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM21/session_010/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM21/session_010/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM21/session_010/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM21/session_010/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM21/session_010/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM21/session_010/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM21/session_010/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM21/session_011/cameras/poses.npz +3 -0
- actions/static_manipulation/SM21/session_011/meta.json +526 -0
- actions/static_manipulation/SM21/session_011/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM21/session_011/motions/markers.npz +3 -0
- actions/static_manipulation/SM21/session_011/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM21/session_011/motions/objects.json +39 -0
- actions/static_manipulation/SM21/session_011/motions/objects.npz +3 -0
- actions/static_manipulation/SM21/session_011/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM21/session_011/motions/smplx.npz +3 -0
- actions/static_manipulation/SM21/session_011/raw/audio.wav +3 -0
- actions/static_manipulation/SM21/session_011/raw/manifest.json +286 -0
- actions/static_manipulation/SM21/session_011/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM21/session_011/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM21/session_011/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM21/session_011/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM21/session_011/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM21/session_011/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM21/session_011/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM21/session_011/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM21/session_011/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM21/session_011/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM21/session_011/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM21/session_011/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM21/session_011/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM21/session_011/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM21/session_011/sensors/head_imu.npz +3 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/SM21/20261029_074559_session91",
|
| 4 |
+
"session_id": "20261029_074559_session91",
|
| 5 |
+
"primitive": "SM21",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T22:59:21.492562+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": 128.95833333333334,
|
| 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": -0.094095,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9364,
|
| 32 |
+
"reference_imu_first_sample_s": 25976.864200612,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 8,
|
| 35 |
+
"window_corr_median": 0.8728140956914734,
|
| 36 |
+
"drift_ppm": -17.496147869809636,
|
| 37 |
+
"drift_se_ppm": 18.901653114425798,
|
| 38 |
+
"drift_ms_over_take": -2.256128267811953,
|
| 39 |
+
"lag_scatter_ms": 1.4081414424845102,
|
| 40 |
+
"lag_range_ms": 4.63461832314846
|
| 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": 26239,
|
| 76 |
+
"n_gyro": 26234,
|
| 77 |
+
"t_start": -0.1009907068135592,
|
| 78 |
+
"t_end": 129.14933033518645
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26079,
|
| 82 |
+
"n_gyro": 26072,
|
| 83 |
+
"t_start": 0.003283334187630993,
|
| 84 |
+
"t_end": 129.3153953681878
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25521,
|
| 88 |
+
"n_gyro": 25533,
|
| 89 |
+
"t_start": -0.7851318488126937,
|
| 90 |
+
"t_end": 128.11021173018634
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25469,
|
| 94 |
+
"n_gyro": 25469,
|
| 95 |
+
"t_start": -0.8361088468144091,
|
| 96 |
+
"t_end": 128.11701342518535
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12940,
|
| 100 |
+
"t_start": 0.08639958418750643,
|
| 101 |
+
"t_end": 129.4763952711848
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12888,
|
| 105 |
+
"t_start": -0.7612344588149655,
|
| 106 |
+
"t_end": 128.10829974818733
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12895,
|
| 110 |
+
"t_start": -0.8276795468144202,
|
| 111 |
+
"t_end": 128.11187476018785
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 25976.995063,
|
| 118 |
+
"frames": 3868,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039395968830990336,
|
| 124 |
+
"t_end": 128.93953996883027,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 25976.995044,
|
| 131 |
+
"frames": 3868,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03916664780006135,
|
| 137 |
+
"t_end": 128.93928864779917,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 25976.995058,
|
| 144 |
+
"frames": 3868,
|
| 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": 0.03922148025337696,
|
| 150 |
+
"t_end": 128.93935448025258,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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|
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"block": "20261029-afternoon",
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|
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|
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|
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"headtop_p95_mm": 1510.7
|
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|
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|
| 349 |
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},
|
| 350 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 351 |
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"files": [
|
| 352 |
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"mocap_zup.npz",
|
| 353 |
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"tracker0_zup.npz",
|
| 354 |
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"rig_zup.npz",
|
| 355 |
+
"cameras_zup.npz"
|
| 356 |
+
]
|
| 357 |
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},
|
| 358 |
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"smplx": {
|
| 359 |
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|
| 360 |
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"generated_by": "scripts/fit_smplx_dataset.py",
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"file": "smplx.npz",
|
| 362 |
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"gender": "female",
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| 363 |
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"n_betas": 16,
|
| 364 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 365 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 366 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 367 |
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"hands": {
|
| 368 |
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"observed": false,
|
| 369 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 370 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 371 |
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|
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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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|
| 395 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
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"marker_rmse_mm": {
|
| 399 |
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"median_frame": 2.01,
|
| 400 |
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"p95_frame": 5.38
|
| 401 |
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},
|
| 402 |
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"worst_markers": [
|
| 403 |
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"RElbowIn 7mm",
|
| 404 |
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"RKneeIn 5mm",
|
| 405 |
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"LShin 5mm",
|
| 406 |
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"CLAV 5mm",
|
| 407 |
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"LThigh 5mm"
|
| 408 |
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],
|
| 409 |
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"valid_fraction": 1.0,
|
| 410 |
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"qc": {
|
| 411 |
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"lowest_vertex_mm": {
|
| 412 |
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"median": 3.6,
|
| 413 |
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"p5": 0.9
|
| 414 |
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},
|
| 415 |
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"frames_checked": 516,
|
| 416 |
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|
| 417 |
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},
|
| 418 |
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"surface_term": {
|
| 419 |
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"weight": 1.0,
|
| 420 |
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"marker_height_mm": 11.0,
|
| 421 |
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"markers_on_surface": 52,
|
| 422 |
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"surface_rmse_mm_median": 11.79
|
| 423 |
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},
|
| 424 |
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"shape_source": "participant median",
|
| 425 |
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"wrist_correction": {
|
| 426 |
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"left": {
|
| 427 |
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"status": "corrected",
|
| 428 |
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"Q_deg": 83.21,
|
| 429 |
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"Q_rotvec": [
|
| 430 |
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-1.38997,
|
| 431 |
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0.16218,
|
| 432 |
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|
| 433 |
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],
|
| 434 |
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"in_out_sign": 1,
|
| 435 |
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"wrist_bend_deg_median": 96.3,
|
| 436 |
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|
| 437 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 438 |
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"marker_frame_spread_deg": 1.76,
|
| 439 |
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|
| 440 |
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"before": 83.72,
|
| 441 |
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"after": 1.76
|
| 442 |
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},
|
| 443 |
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"markers_on_wrist": [
|
| 444 |
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"LHandIn",
|
| 445 |
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"LHandOut"
|
| 446 |
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],
|
| 447 |
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|
| 448 |
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"twist_moved_deg": -89.48,
|
| 449 |
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|
| 450 |
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|
| 451 |
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"iqr": [
|
| 452 |
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-2.2,
|
| 453 |
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5.0
|
| 454 |
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]
|
| 455 |
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},
|
| 456 |
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"wrist_total_deg_median_after": 41.1,
|
| 457 |
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"markers_on_forearm": [
|
| 458 |
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"LForearm",
|
| 459 |
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"LWristIn",
|
| 460 |
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"LWristOut"
|
| 461 |
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]
|
| 462 |
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},
|
| 463 |
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|
| 464 |
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},
|
| 465 |
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"right": {
|
| 466 |
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|
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|
| 468 |
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|
| 469 |
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|
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|
| 471 |
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|
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],
|
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|
| 474 |
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|
| 475 |
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"opposite_sign_bend_deg": 120.0,
|
| 476 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 477 |
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"marker_frame_spread_deg": 1.46,
|
| 478 |
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"hand_vs_marker_frame_deg": {
|
| 479 |
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"before": 80.21,
|
| 480 |
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"after": 1.46
|
| 481 |
+
},
|
| 482 |
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"markers_on_wrist": [
|
| 483 |
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"RHandIn",
|
| 484 |
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"RHandOut"
|
| 485 |
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],
|
| 486 |
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"forearm_twist": {
|
| 487 |
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"twist_moved_deg": 56.44,
|
| 488 |
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|
| 489 |
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"median": 0.0,
|
| 490 |
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"iqr": [
|
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-3.1,
|
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2.4
|
| 493 |
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]
|
| 494 |
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},
|
| 495 |
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"wrist_total_deg_median_after": 62.9,
|
| 496 |
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"markers_on_forearm": [
|
| 497 |
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"RForearm",
|
| 498 |
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"RWristIn",
|
| 499 |
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"RWristOut"
|
| 500 |
+
]
|
| 501 |
+
},
|
| 502 |
+
"frames_used": 1500
|
| 503 |
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},
|
| 504 |
+
"generated_at_utc": "2026-11-02T18:39:12.197187+00:00",
|
| 505 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"release": {
|
| 509 |
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"release_path": "actions/static_manipulation/SM21/session_011",
|
| 510 |
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"family": "static_manipulation",
|
| 511 |
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"primitive": "SM21",
|
| 512 |
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"source_session": "20261029/SM21/20261029_074559_session91"
|
| 513 |
+
},
|
| 514 |
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"task": {
|
| 515 |
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"primitive": "SM21",
|
| 516 |
+
"instruction": "Open and close the tool in your hand, without cutting anything. 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."
|
| 517 |
+
},
|
| 518 |
+
"objects": [
|
| 519 |
+
{
|
| 520 |
+
"name": "Table",
|
| 521 |
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"object_type": "Table",
|
| 522 |
+
"source": "mocap",
|
| 523 |
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"pose_frame": "rigid_body"
|
| 524 |
+
}
|
| 525 |
+
]
|
| 526 |
+
}
|
actions/static_manipulation/SM21/session_011/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:7c58a504756975047a5343548e9ea48ada98db9f8edfb2a9ab6026c715cfb478
|
| 3 |
+
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