Release update 2026-11-05: new sessions, instructions, annotations (part 120)
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_014/raw/mocap/LittleBox5.trc +0 -0
- actions/long_horizon_composite/LH10/session_014/raw/mocap/LittleBox6.csv +0 -0
- actions/long_horizon_composite/LH10/session_014/raw/mocap/LittleBox6.trc +0 -0
- actions/long_horizon_composite/LH10/session_014/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH10/session_014/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH10/session_014/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH10/session_014/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH10/session_014/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH10/session_014/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH10/session_014/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH10/session_014/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH10/session_014/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH10/session_014/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH10/session_014/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH10/session_014/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH10/session_014/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH10/session_014/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH10/session_014/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_014/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH10/session_015/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH10/session_015/meta.json +542 -0
- actions/long_horizon_composite/LH10/session_015/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH10/session_015/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH10/session_015/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH10/session_015/motions/objects.json +105 -0
- actions/long_horizon_composite/LH10/session_015/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH10/session_015/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH10/session_015/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH10/session_015/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH10/session_015/raw/manifest.json +352 -0
- actions/long_horizon_composite/LH10/session_015/raw/mocap/Body0.bvh +0 -0
- actions/long_horizon_composite/LH10/session_015/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH10/session_015/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH10/session_015/raw/mocap/LittleBox4.csv +0 -0
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- actions/long_horizon_composite/LH10/session_015/raw/mocap/LittleBox5.csv +0 -0
- actions/long_horizon_composite/LH10/session_015/raw/mocap/LittleBox5.trc +0 -0
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- actions/long_horizon_composite/LH10/session_015/raw/mocap/LittleBox6.trc +0 -0
- actions/long_horizon_composite/LH10/session_015/raw/mocap/Table.csv +0 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261103/LH10/20261103_043050_session158",
|
| 4 |
+
"session_id": "20261103_043050_session158",
|
| 5 |
+
"primitive": "LH10",
|
| 6 |
+
"batch": "20261103",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T22:11:39.118866+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": 121.95833333333333,
|
| 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": -0.087556,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9311,
|
| 32 |
+
"reference_imu_first_sample_s": 14391.270867628,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9565306633395101,
|
| 36 |
+
"drift_ppm": -15.597038872232984,
|
| 37 |
+
"drift_se_ppm": 27.814577939483343,
|
| 38 |
+
"drift_ms_over_take": -1.9020588904688125,
|
| 39 |
+
"lag_scatter_ms": 2.638722553351212,
|
| 40 |
+
"lag_range_ms": 9.458522977301541
|
| 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": 24520,
|
| 76 |
+
"n_gyro": 24513,
|
| 77 |
+
"t_start": -0.09952189213975278,
|
| 78 |
+
"t_end": 122.13760331186138
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24476,
|
| 82 |
+
"n_gyro": 24469,
|
| 83 |
+
"t_start": 0.007642679860576138,
|
| 84 |
+
"t_end": 122.29844778086051
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24100,
|
| 88 |
+
"n_gyro": 24115,
|
| 89 |
+
"t_start": -0.8604239571395075,
|
| 90 |
+
"t_end": 120.84850021286191
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24043,
|
| 94 |
+
"n_gyro": 24043,
|
| 95 |
+
"t_start": -0.8679573721382686,
|
| 96 |
+
"t_end": 120.85725144586111
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12238,
|
| 100 |
+
"t_start": 0.09257251286187322,
|
| 101 |
+
"t_end": 122.46256461286073
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12170,
|
| 105 |
+
"t_start": -0.8466503701383109,
|
| 106 |
+
"t_end": 120.8433735508607
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12172,
|
| 110 |
+
"t_start": -0.8594590401389061,
|
| 111 |
+
"t_end": 120.85049032186187
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 14391.396192,
|
| 118 |
+
"frames": 3658,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040110333659024874,
|
| 124 |
+
"t_end": 121.94013233365884,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 14391.396157,
|
| 131 |
+
"frames": 3658,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039681909505882615,
|
| 137 |
+
"t_end": 121.93969290950561,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 14391.39618,
|
| 144 |
+
"frames": 3658,
|
| 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": 0.03957306809941012,
|
| 150 |
+
"t_end": 121.93959506809922,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
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| 195 |
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},
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},
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| 221 |
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| 227 |
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}
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},
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"flags": [],
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| 230 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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| 231 |
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|
| 261 |
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},
|
| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
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},
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| 265 |
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"generated_at_utc": "2026-11-04T04:11:34.232715+00:00",
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"generated_by": "scripts/canonicalise_dataset.py",
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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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[
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0.0,
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0.0,
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1.0
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]
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],
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"block": "20261103-morning",
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| 314 |
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|
| 315 |
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|
| 320 |
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},
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-0.0583,
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],
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},
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},
|
| 338 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 339 |
+
"files": [
|
| 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 |
+
"cameras_zup.npz"
|
| 344 |
+
]
|
| 345 |
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},
|
| 346 |
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"smplx": {
|
| 347 |
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"generated_at_utc": "2026-11-04T05:45:14.191550+00:00",
|
| 348 |
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"generated_by": "scripts/fit_smplx_dataset.py",
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| 349 |
+
"file": "smplx.npz",
|
| 350 |
+
"gender": "male",
|
| 351 |
+
"n_betas": 16,
|
| 352 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 353 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
+
"hands": {
|
| 356 |
+
"observed": false,
|
| 357 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 358 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
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"LHandIn": [
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0.017037801444530487,
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0.009590743109583855
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0.005854886490851641
|
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],
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0.020529180765151978,
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0.0070046186447143555
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| 387 |
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]
|
| 388 |
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}
|
| 389 |
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}
|
| 390 |
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},
|
| 391 |
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"marker_rmse_mm": {
|
| 392 |
+
"median_frame": 6.11,
|
| 393 |
+
"p95_frame": 14.72
|
| 394 |
+
},
|
| 395 |
+
"worst_markers": [
|
| 396 |
+
"LKneeIn 24mm",
|
| 397 |
+
"CLAV 15mm",
|
| 398 |
+
"LShin 14mm",
|
| 399 |
+
"LElbow 13mm",
|
| 400 |
+
"RElbowIn 13mm"
|
| 401 |
+
],
|
| 402 |
+
"valid_fraction": 0.965,
|
| 403 |
+
"qc": {
|
| 404 |
+
"lowest_vertex_mm": {
|
| 405 |
+
"median": 6.4,
|
| 406 |
+
"p5": 2.1
|
| 407 |
+
},
|
| 408 |
+
"frames_checked": 471,
|
| 409 |
+
"stature_mm": 1700.1
|
| 410 |
+
},
|
| 411 |
+
"surface_term": {
|
| 412 |
+
"weight": 1.0,
|
| 413 |
+
"marker_height_mm": 11.0,
|
| 414 |
+
"markers_on_surface": 52,
|
| 415 |
+
"surface_rmse_mm_median": 13.01
|
| 416 |
+
},
|
| 417 |
+
"shape_source": "participant median",
|
| 418 |
+
"wrist_correction": {
|
| 419 |
+
"left": {
|
| 420 |
+
"status": "corrected",
|
| 421 |
+
"Q_deg": 24.9,
|
| 422 |
+
"Q_rotvec": [
|
| 423 |
+
0.39486,
|
| 424 |
+
-0.07513,
|
| 425 |
+
0.16528
|
| 426 |
+
],
|
| 427 |
+
"in_out_sign": 1,
|
| 428 |
+
"q_source": "markers",
|
| 429 |
+
"gsi": null,
|
| 430 |
+
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|
| 431 |
+
"opposite_sign_bend_deg": 145.0,
|
| 432 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 433 |
+
"marker_frame_spread_deg": 2.96,
|
| 434 |
+
"hand_vs_marker_frame_deg": {
|
| 435 |
+
"before": 24.36,
|
| 436 |
+
"after": 2.96
|
| 437 |
+
},
|
| 438 |
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"markers_on_wrist": [
|
| 439 |
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"LWristOut",
|
| 440 |
+
"LHandIn",
|
| 441 |
+
"LHandOut"
|
| 442 |
+
],
|
| 443 |
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|
| 444 |
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"twist_moved_deg": 40.01,
|
| 445 |
+
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|
| 446 |
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"median": 0.02,
|
| 447 |
+
"iqr": [
|
| 448 |
+
-8.1,
|
| 449 |
+
3.4
|
| 450 |
+
]
|
| 451 |
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},
|
| 452 |
+
"wrist_total_deg_median_after": 15.6,
|
| 453 |
+
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|
| 454 |
+
"LElbowIn",
|
| 455 |
+
"LForearm",
|
| 456 |
+
"LWristIn"
|
| 457 |
+
]
|
| 458 |
+
},
|
| 459 |
+
"frames_used": 1413
|
| 460 |
+
},
|
| 461 |
+
"right": {
|
| 462 |
+
"status": "corrected",
|
| 463 |
+
"Q_deg": 101.04,
|
| 464 |
+
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|
| 465 |
+
1.63323,
|
| 466 |
+
0.31343,
|
| 467 |
+
0.58673
|
| 468 |
+
],
|
| 469 |
+
"in_out_sign": 1,
|
| 470 |
+
"q_source": "markers",
|
| 471 |
+
"gsi": null,
|
| 472 |
+
"wrist_bend_deg_median": 97.3,
|
| 473 |
+
"opposite_sign_bend_deg": 90.8,
|
| 474 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 475 |
+
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|
| 476 |
+
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|
| 477 |
+
"before": 100.45,
|
| 478 |
+
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|
| 479 |
+
},
|
| 480 |
+
"markers_on_wrist": [
|
| 481 |
+
"RHandIn",
|
| 482 |
+
"RHandOut"
|
| 483 |
+
],
|
| 484 |
+
"forearm_twist": {
|
| 485 |
+
"twist_moved_deg": -94.95,
|
| 486 |
+
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|
| 487 |
+
"median": 0.0,
|
| 488 |
+
"iqr": [
|
| 489 |
+
-2.5,
|
| 490 |
+
2.5
|
| 491 |
+
]
|
| 492 |
+
},
|
| 493 |
+
"wrist_total_deg_median_after": 24.9,
|
| 494 |
+
"markers_on_forearm": [
|
| 495 |
+
"RForearm",
|
| 496 |
+
"RWristIn",
|
| 497 |
+
"RWristOut"
|
| 498 |
+
]
|
| 499 |
+
},
|
| 500 |
+
"frames_used": 1413
|
| 501 |
+
},
|
| 502 |
+
"generated_at_utc": "2026-11-04T05:45:17.258729+00:00",
|
| 503 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 504 |
+
}
|
| 505 |
+
},
|
| 506 |
+
"release": {
|
| 507 |
+
"release_path": "actions/long_horizon_composite/LH10/session_015",
|
| 508 |
+
"family": "long_horizon_composite",
|
| 509 |
+
"primitive": "LH10",
|
| 510 |
+
"source_session": "20261103/LH10/20261103_043050_session158"
|
| 511 |
+
},
|
| 512 |
+
"task": {
|
| 513 |
+
"primitive": "LH10",
|
| 514 |
+
"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."
|
| 515 |
+
},
|
| 516 |
+
"objects": [
|
| 517 |
+
{
|
| 518 |
+
"name": "LittleBox4",
|
| 519 |
+
"object_type": "LittleBox",
|
| 520 |
+
"source": "mocap",
|
| 521 |
+
"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 |
+
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| 1 |
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{
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"primitive_id": "LH10",
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"session_id": "20261103_043050_session158",
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"upload_batch_id": "20261103",
|
| 7 |
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"dataset_path": "EgoMotionActions/20261103/LH10/20261103_043050_session158",
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"segment": "auto/all",
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|
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},
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"mocap_rigid_names": [
|
| 16 |
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|
| 17 |
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|
| 18 |
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"LittleBox5",
|
| 19 |
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"LittleBox6",
|
| 20 |
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