Release update 2026-11-05: new sessions, instructions, annotations
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +29 -0
- actions/static_manipulation/SM06/session_009/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM06/session_009/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM06/session_009/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM06/session_009/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM06/session_009/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM06/session_009/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM06/session_009/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM06/session_009/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM06/session_009/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM06/session_009/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM06/session_009/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM06/session_009/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM06/session_009/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM06/session_009/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM06/session_009/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM06/session_009/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM06/session_009/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM06/session_009/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM06/session_009/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM06/session_009/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM06/session_010/cameras/poses.npz +3 -0
- actions/static_manipulation/SM06/session_010/meta.json +786 -0
- actions/static_manipulation/SM06/session_010/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM06/session_010/motions/markers.npz +3 -0
- actions/static_manipulation/SM06/session_010/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM06/session_010/motions/objects.json +52 -0
- actions/static_manipulation/SM06/session_010/motions/objects.npz +3 -0
- actions/static_manipulation/SM06/session_010/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM06/session_010/motions/smplx.npz +3 -0
- actions/static_manipulation/SM06/session_010/raw/audio.wav +3 -0
- actions/static_manipulation/SM06/session_010/raw/manifest.json +308 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Table2.trc +0 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM06/session_010/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM06/session_010/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM06/session_010/raw/sensors/robocap_imu_right.db +3 -0
.gitattributes
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actions/static_manipulation/SM06/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM06/session_008/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM06/session_008/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 49797 |
actions/static_manipulation/SM06/session_008/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM06/session_009/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM06/session_010/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 49814 |
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actions/static_manipulation/SM06/session_010/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 49815 |
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actions/static_manipulation/SM06/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 49816 |
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actions/static_manipulation/SM06/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 49817 |
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actions/static_manipulation/SM07/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 49819 |
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actions/static_manipulation/SM07/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM06/session_009/raw/mocap/Table.trc
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actions/static_manipulation/SM06/session_009/raw/mocap/Tracker0.csv
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actions/static_manipulation/SM06/session_009/raw/mocap/Tracker0.trc
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actions/static_manipulation/SM06/session_009/raw/sensors/robocap_imu_left.db
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size 21924708
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version https://git-lfs.github.com/spec/v1
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size 49378850
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actions/static_manipulation/SM06/session_010/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 3 |
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size 1164597
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actions/static_manipulation/SM06/session_010/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261102/SM06/20261102_085844_session145",
|
| 4 |
+
"session_id": "20261102_085844_session145",
|
| 5 |
+
"primitive": "SM06",
|
| 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": "2026-11-03T22:03:58.223276+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": 134.95833333333334,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
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"alignment": {
|
| 25 |
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"reference_imu": "imu_head_right",
|
| 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": -0.093515,
|
| 29 |
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"rate": 0.0,
|
| 30 |
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| 31 |
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| 32 |
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| 33 |
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}
|
| 42 |
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},
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| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
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"y_up_to_z_up": [
|
| 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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| 54 |
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-1.0
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| 55 |
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],
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| 56 |
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[
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| 57 |
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0.0,
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| 58 |
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1.0,
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| 59 |
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0.0
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| 60 |
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]
|
| 61 |
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],
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| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
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| 64 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
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| 65 |
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| 66 |
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},
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| 67 |
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| 68 |
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"status": "ok",
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| 71 |
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},
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"file": "mocap/mocap-SM06-S01-wangzhixin-02p1-1.mp4",
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| 221 |
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| 229 |
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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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| 232 |
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"definition": "e17c9efadb69e7b1/20261102-afternoon/labels-154230/session-be8d5cab6541e2d0",
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],
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| 258 |
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"status": "unchecked",
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| 259 |
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|
| 260 |
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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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},
|
| 265 |
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"canonical": {
|
| 266 |
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"generated_at_utc": "2026-11-04T04:10:17.425290+00:00",
|
| 267 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 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)",
|
| 269 |
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|
| 270 |
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[
|
| 271 |
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|
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-2.2061e-06
|
| 274 |
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],
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[
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]
|
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],
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| 287 |
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| 288 |
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[
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0.000999998958,
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|
| 291 |
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],
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[
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2.206e-09,
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],
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0.0
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],
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[
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0.0,
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0.0,
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0.0,
|
| 310 |
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1.0
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| 311 |
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]
|
| 312 |
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],
|
| 313 |
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"block": "20261102-afternoon",
|
| 314 |
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"block_assignment": "trc",
|
| 315 |
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"tilt_removed_deg": 0.19365225661101543,
|
| 316 |
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|
| 317 |
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"floor": {
|
| 318 |
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"sole_marker_p1_mm": 51.6,
|
| 319 |
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|
| 320 |
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},
|
| 321 |
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|
| 322 |
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|
| 323 |
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|
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-0.2117,
|
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|
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|
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|
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},
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| 336 |
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| 337 |
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},
|
| 338 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 339 |
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"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 |
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"cameras_zup.npz"
|
| 344 |
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]
|
| 345 |
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},
|
| 346 |
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"smplx": {
|
| 347 |
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"generated_at_utc": "2026-11-04T06:41:00.952945+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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"left": {
|
| 361 |
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"LHandIn": [
|
| 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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|
| 383 |
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}
|
| 384 |
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}
|
| 385 |
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},
|
| 386 |
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"marker_rmse_mm": {
|
| 387 |
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"median_frame": 2.11,
|
| 388 |
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"p95_frame": 4.75
|
| 389 |
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},
|
| 390 |
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"worst_markers": [
|
| 391 |
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"RElbowIn 9mm",
|
| 392 |
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"RUArmHigh 6mm",
|
| 393 |
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"RElbow 5mm",
|
| 394 |
+
"LElbow 4mm",
|
| 395 |
+
"RShoulderFront 4mm"
|
| 396 |
+
],
|
| 397 |
+
"valid_fraction": 0.9996,
|
| 398 |
+
"qc": {
|
| 399 |
+
"lowest_vertex_mm": {
|
| 400 |
+
"median": -1.7,
|
| 401 |
+
"p5": -2.6
|
| 402 |
+
},
|
| 403 |
+
"frames_checked": 540,
|
| 404 |
+
"stature_mm": 1582.0
|
| 405 |
+
},
|
| 406 |
+
"surface_term": {
|
| 407 |
+
"weight": 1.0,
|
| 408 |
+
"marker_height_mm": 11.0,
|
| 409 |
+
"markers_on_surface": 52,
|
| 410 |
+
"surface_rmse_mm_median": 14.15
|
| 411 |
+
},
|
| 412 |
+
"shape_source": "participant median",
|
| 413 |
+
"wrist_correction": {
|
| 414 |
+
"left": {
|
| 415 |
+
"status": "corrected",
|
| 416 |
+
"Q_deg": 29.1,
|
| 417 |
+
"Q_rotvec": [
|
| 418 |
+
-0.30536,
|
| 419 |
+
-0.23511,
|
| 420 |
+
0.33075
|
| 421 |
+
],
|
| 422 |
+
"in_out_sign": 1,
|
| 423 |
+
"q_source": "markers",
|
| 424 |
+
"gsi": null,
|
| 425 |
+
"wrist_bend_deg_median": 23.6,
|
| 426 |
+
"opposite_sign_bend_deg": 169.3,
|
| 427 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 428 |
+
"marker_frame_spread_deg": 5.15,
|
| 429 |
+
"hand_vs_marker_frame_deg": {
|
| 430 |
+
"before": 27.93,
|
| 431 |
+
"after": 5.15
|
| 432 |
+
},
|
| 433 |
+
"markers_on_wrist": [
|
| 434 |
+
"LHandIn",
|
| 435 |
+
"LHandOut"
|
| 436 |
+
],
|
| 437 |
+
"forearm_twist": {
|
| 438 |
+
"twist_moved_deg": 0.65,
|
| 439 |
+
"wrist_twist_deg_after": {
|
| 440 |
+
"median": 0.0,
|
| 441 |
+
"iqr": [
|
| 442 |
+
-9.1,
|
| 443 |
+
15.0
|
| 444 |
+
]
|
| 445 |
+
},
|
| 446 |
+
"wrist_total_deg_median_after": 47.3,
|
| 447 |
+
"markers_on_forearm": [
|
| 448 |
+
"LElbowIn",
|
| 449 |
+
"LForearm",
|
| 450 |
+
"LWristIn",
|
| 451 |
+
"LWristOut"
|
| 452 |
+
]
|
| 453 |
+
},
|
| 454 |
+
"frames_used": 1040
|
| 455 |
+
},
|
| 456 |
+
"right": {
|
| 457 |
+
"status": "corrected",
|
| 458 |
+
"Q_deg": 155.39,
|
| 459 |
+
"Q_rotvec": [
|
| 460 |
+
2.66833,
|
| 461 |
+
-0.48236,
|
| 462 |
+
-0.05186
|
| 463 |
+
],
|
| 464 |
+
"in_out_sign": 1,
|
| 465 |
+
"q_source": "markers",
|
| 466 |
+
"gsi": null,
|
| 467 |
+
"wrist_bend_deg_median": 90.7,
|
| 468 |
+
"opposite_sign_bend_deg": 97.6,
|
| 469 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 470 |
+
"marker_frame_spread_deg": 3.98,
|
| 471 |
+
"hand_vs_marker_frame_deg": {
|
| 472 |
+
"before": 156.1,
|
| 473 |
+
"after": 3.98
|
| 474 |
+
},
|
| 475 |
+
"markers_on_wrist": [
|
| 476 |
+
"RHandIn",
|
| 477 |
+
"RHandOut"
|
| 478 |
+
],
|
| 479 |
+
"forearm_twist": {
|
| 480 |
+
"twist_moved_deg": -89.47,
|
| 481 |
+
"wrist_twist_deg_after": {
|
| 482 |
+
"median": -0.0,
|
| 483 |
+
"iqr": [
|
| 484 |
+
-3.2,
|
| 485 |
+
4.5
|
| 486 |
+
]
|
| 487 |
+
},
|
| 488 |
+
"wrist_total_deg_median_after": 12.0,
|
| 489 |
+
"markers_on_forearm": [
|
| 490 |
+
"RForearm",
|
| 491 |
+
"RWristIn",
|
| 492 |
+
"RWristOut"
|
| 493 |
+
]
|
| 494 |
+
},
|
| 495 |
+
"frames_used": 1500
|
| 496 |
+
},
|
| 497 |
+
"generated_at_utc": "2026-11-04T06:41:04.019357+00:00",
|
| 498 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
"marker_relabel": {
|
| 502 |
+
"generated_at_utc": "2026-11-04T06:21:44.492697+00:00",
|
| 503 |
+
"generated_by": "scripts/relabel_marker_swaps.py",
|
| 504 |
+
"margin_s": 0.75,
|
| 505 |
+
"sides": {
|
| 506 |
+
"left": {
|
| 507 |
+
"evidence": [
|
| 508 |
+
"imu"
|
| 509 |
+
],
|
| 510 |
+
"frames_ok": 2384,
|
| 511 |
+
"frames_flipped": 719,
|
| 512 |
+
"stretches": [
|
| 513 |
+
{
|
| 514 |
+
"t0": 3.92,
|
| 515 |
+
"t1": 4.88,
|
| 516 |
+
"dur_s": 0.97,
|
| 517 |
+
"marker_turn_deg": 105.0,
|
| 518 |
+
"confirm": "imu",
|
| 519 |
+
"err_as_labelled_deg": 127.5,
|
| 520 |
+
"err_swapped_deg": 52.3,
|
| 521 |
+
"calib_err_deg": 4.2,
|
| 522 |
+
"applied": false
|
| 523 |
+
},
|
| 524 |
+
{
|
| 525 |
+
"t0": 10.43,
|
| 526 |
+
"t1": 11.58,
|
| 527 |
+
"dur_s": 1.15,
|
| 528 |
+
"marker_turn_deg": 103.0,
|
| 529 |
+
"confirm": "imu",
|
| 530 |
+
"err_as_labelled_deg": 159.8,
|
| 531 |
+
"err_swapped_deg": 28.4,
|
| 532 |
+
"calib_err_deg": 4.2,
|
| 533 |
+
"applied": true
|
| 534 |
+
},
|
| 535 |
+
{
|
| 536 |
+
"t0": 13.82,
|
| 537 |
+
"t1": 14.47,
|
| 538 |
+
"dur_s": 0.65,
|
| 539 |
+
"marker_turn_deg": 159.0,
|
| 540 |
+
"confirm": "imu",
|
| 541 |
+
"err_as_labelled_deg": 161.2,
|
| 542 |
+
"err_swapped_deg": 24.4,
|
| 543 |
+
"calib_err_deg": 4.2,
|
| 544 |
+
"applied": true
|
| 545 |
+
},
|
| 546 |
+
{
|
| 547 |
+
"t0": 15.67,
|
| 548 |
+
"t1": 16.77,
|
| 549 |
+
"dur_s": 1.1,
|
| 550 |
+
"marker_turn_deg": 158.0,
|
| 551 |
+
"confirm": "imu",
|
| 552 |
+
"err_as_labelled_deg": 148.1,
|
| 553 |
+
"err_swapped_deg": 31.8,
|
| 554 |
+
"calib_err_deg": 4.2,
|
| 555 |
+
"applied": true
|
| 556 |
+
},
|
| 557 |
+
{
|
| 558 |
+
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|
| 559 |
+
"t1": 18.58,
|
| 560 |
+
"dur_s": 1.42,
|
| 561 |
+
"marker_turn_deg": 40.0,
|
| 562 |
+
"confirm": "imu",
|
| 563 |
+
"err_as_labelled_deg": 157.0,
|
| 564 |
+
"err_swapped_deg": 26.4,
|
| 565 |
+
"calib_err_deg": 4.2,
|
| 566 |
+
"applied": true
|
| 567 |
+
},
|
| 568 |
+
{
|
| 569 |
+
"t0": 20.18,
|
| 570 |
+
"t1": 20.97,
|
| 571 |
+
"dur_s": 0.78,
|
| 572 |
+
"marker_turn_deg": 54.0,
|
| 573 |
+
"confirm": "imu",
|
| 574 |
+
"err_as_labelled_deg": 150.7,
|
| 575 |
+
"err_swapped_deg": 34.3,
|
| 576 |
+
"calib_err_deg": 4.2,
|
| 577 |
+
"applied": true
|
| 578 |
+
},
|
| 579 |
+
{
|
| 580 |
+
"t0": 21.75,
|
| 581 |
+
"t1": 22.32,
|
| 582 |
+
"dur_s": 0.57,
|
| 583 |
+
"marker_turn_deg": 61.0,
|
| 584 |
+
"confirm": "imu",
|
| 585 |
+
"err_as_labelled_deg": 168.9,
|
| 586 |
+
"err_swapped_deg": 20.9,
|
| 587 |
+
"calib_err_deg": 4.2,
|
| 588 |
+
"applied": true
|
| 589 |
+
},
|
| 590 |
+
{
|
| 591 |
+
"t0": 23.23,
|
| 592 |
+
"t1": 23.98,
|
| 593 |
+
"dur_s": 0.75,
|
| 594 |
+
"marker_turn_deg": 93.0,
|
| 595 |
+
"confirm": "imu",
|
| 596 |
+
"err_as_labelled_deg": 137.1,
|
| 597 |
+
"err_swapped_deg": 38.4,
|
| 598 |
+
"calib_err_deg": 4.2,
|
| 599 |
+
"applied": true
|
| 600 |
+
},
|
| 601 |
+
{
|
| 602 |
+
"t0": 26.12,
|
| 603 |
+
"t1": 27.45,
|
| 604 |
+
"dur_s": 1.33,
|
| 605 |
+
"marker_turn_deg": 121.0,
|
| 606 |
+
"confirm": "imu",
|
| 607 |
+
"err_as_labelled_deg": 160.8,
|
| 608 |
+
"err_swapped_deg": 22.1,
|
| 609 |
+
"calib_err_deg": 4.2,
|
| 610 |
+
"applied": true
|
| 611 |
+
},
|
| 612 |
+
{
|
| 613 |
+
"t0": 31.87,
|
| 614 |
+
"t1": 32.9,
|
| 615 |
+
"dur_s": 1.03,
|
| 616 |
+
"marker_turn_deg": 129.0,
|
| 617 |
+
"confirm": "imu",
|
| 618 |
+
"err_as_labelled_deg": 144.4,
|
| 619 |
+
"err_swapped_deg": 33.2,
|
| 620 |
+
"calib_err_deg": 4.2,
|
| 621 |
+
"applied": true
|
| 622 |
+
},
|
| 623 |
+
{
|
| 624 |
+
"t0": 33.43,
|
| 625 |
+
"t1": 34.77,
|
| 626 |
+
"dur_s": 1.33,
|
| 627 |
+
"marker_turn_deg": 24.0,
|
| 628 |
+
"confirm": "imu",
|
| 629 |
+
"err_as_labelled_deg": 161.0,
|
| 630 |
+
"err_swapped_deg": 22.8,
|
| 631 |
+
"calib_err_deg": 4.2,
|
| 632 |
+
"applied": true
|
| 633 |
+
},
|
| 634 |
+
{
|
| 635 |
+
"t0": 35.55,
|
| 636 |
+
"t1": 36.57,
|
| 637 |
+
"dur_s": 1.02,
|
| 638 |
+
"marker_turn_deg": 22.0,
|
| 639 |
+
"confirm": "imu",
|
| 640 |
+
"err_as_labelled_deg": 131.5,
|
| 641 |
+
"err_swapped_deg": 44.4,
|
| 642 |
+
"calib_err_deg": 4.2,
|
| 643 |
+
"applied": true
|
| 644 |
+
},
|
| 645 |
+
{
|
| 646 |
+
"t0": 44.3,
|
| 647 |
+
"t1": 45.02,
|
| 648 |
+
"dur_s": 0.72,
|
| 649 |
+
"marker_turn_deg": 88.0,
|
| 650 |
+
"confirm": "imu",
|
| 651 |
+
"err_as_labelled_deg": 133.8,
|
| 652 |
+
"err_swapped_deg": 46.9,
|
| 653 |
+
"calib_err_deg": 4.2,
|
| 654 |
+
"applied": false
|
| 655 |
+
},
|
| 656 |
+
{
|
| 657 |
+
"t0": 47.53,
|
| 658 |
+
"t1": 48.42,
|
| 659 |
+
"dur_s": 0.88,
|
| 660 |
+
"marker_turn_deg": 55.0,
|
| 661 |
+
"confirm": "imu",
|
| 662 |
+
"err_as_labelled_deg": 161.7,
|
| 663 |
+
"err_swapped_deg": 25.9,
|
| 664 |
+
"calib_err_deg": 4.2,
|
| 665 |
+
"applied": true
|
| 666 |
+
},
|
| 667 |
+
{
|
| 668 |
+
"t0": 52.67,
|
| 669 |
+
"t1": 53.92,
|
| 670 |
+
"dur_s": 1.25,
|
| 671 |
+
"marker_turn_deg": 55.0,
|
| 672 |
+
"confirm": "imu",
|
| 673 |
+
"err_as_labelled_deg": 155.5,
|
| 674 |
+
"err_swapped_deg": 25.7,
|
| 675 |
+
"calib_err_deg": 4.2,
|
| 676 |
+
"applied": true
|
| 677 |
+
},
|
| 678 |
+
{
|
| 679 |
+
"t0": 57.85,
|
| 680 |
+
"t1": 59.27,
|
| 681 |
+
"dur_s": 1.42,
|
| 682 |
+
"marker_turn_deg": 121.0,
|
| 683 |
+
"confirm": "imu",
|
| 684 |
+
"err_as_labelled_deg": 122.6,
|
| 685 |
+
"err_swapped_deg": 57.7,
|
| 686 |
+
"calib_err_deg": 4.2,
|
| 687 |
+
"applied": false
|
| 688 |
+
},
|
| 689 |
+
{
|
| 690 |
+
"t0": 60.73,
|
| 691 |
+
"t1": 61.77,
|
| 692 |
+
"dur_s": 1.03,
|
| 693 |
+
"marker_turn_deg": 108.0,
|
| 694 |
+
"confirm": "imu",
|
| 695 |
+
"err_as_labelled_deg": 134.1,
|
| 696 |
+
"err_swapped_deg": 42.8,
|
| 697 |
+
"calib_err_deg": 4.2,
|
| 698 |
+
"applied": true
|
| 699 |
+
},
|
| 700 |
+
{
|
| 701 |
+
"t0": 61.9,
|
| 702 |
+
"t1": 62.42,
|
| 703 |
+
"dur_s": 0.52,
|
| 704 |
+
"marker_turn_deg": 114.0,
|
| 705 |
+
"confirm": "imu",
|
| 706 |
+
"err_as_labelled_deg": 133.3,
|
| 707 |
+
"err_swapped_deg": 48.4,
|
| 708 |
+
"calib_err_deg": 4.2,
|
| 709 |
+
"applied": false
|
| 710 |
+
},
|
| 711 |
+
{
|
| 712 |
+
"t0": 63.9,
|
| 713 |
+
"t1": 65.33,
|
| 714 |
+
"dur_s": 1.43,
|
| 715 |
+
"marker_turn_deg": 159.0,
|
| 716 |
+
"confirm": "imu",
|
| 717 |
+
"err_as_labelled_deg": 164.6,
|
| 718 |
+
"err_swapped_deg": 24.4,
|
| 719 |
+
"calib_err_deg": 4.2,
|
| 720 |
+
"applied": true
|
| 721 |
+
},
|
| 722 |
+
{
|
| 723 |
+
"t0": 65.58,
|
| 724 |
+
"t1": 66.82,
|
| 725 |
+
"dur_s": 1.23,
|
| 726 |
+
"marker_turn_deg": 30.0,
|
| 727 |
+
"confirm": "imu",
|
| 728 |
+
"err_as_labelled_deg": 142.2,
|
| 729 |
+
"err_swapped_deg": 41.2,
|
| 730 |
+
"calib_err_deg": 4.2,
|
| 731 |
+
"applied": true
|
| 732 |
+
},
|
| 733 |
+
{
|
| 734 |
+
"t0": 75.33,
|
| 735 |
+
"t1": 76.73,
|
| 736 |
+
"dur_s": 1.4,
|
| 737 |
+
"marker_turn_deg": 154.0,
|
| 738 |
+
"confirm": "imu",
|
| 739 |
+
"err_as_labelled_deg": 157.4,
|
| 740 |
+
"err_swapped_deg": 29.4,
|
| 741 |
+
"calib_err_deg": 4.2,
|
| 742 |
+
"applied": true
|
| 743 |
+
},
|
| 744 |
+
{
|
| 745 |
+
"t0": 106.77,
|
| 746 |
+
"t1": 107.35,
|
| 747 |
+
"dur_s": 0.58,
|
| 748 |
+
"marker_turn_deg": 143.0,
|
| 749 |
+
"confirm": "imu",
|
| 750 |
+
"err_as_labelled_deg": 130.8,
|
| 751 |
+
"err_swapped_deg": 48.0,
|
| 752 |
+
"calib_err_deg": 4.2,
|
| 753 |
+
"applied": false
|
| 754 |
+
}
|
| 755 |
+
]
|
| 756 |
+
},
|
| 757 |
+
"right": {
|
| 758 |
+
"evidence": [
|
| 759 |
+
"imu"
|
| 760 |
+
],
|
| 761 |
+
"frames_ok": 3974,
|
| 762 |
+
"frames_flipped": 0,
|
| 763 |
+
"stretches": []
|
| 764 |
+
}
|
| 765 |
+
},
|
| 766 |
+
"applied": 17
|
| 767 |
+
},
|
| 768 |
+
"release": {
|
| 769 |
+
"release_path": "actions/static_manipulation/SM06/session_010",
|
| 770 |
+
"family": "static_manipulation",
|
| 771 |
+
"primitive": "SM06",
|
| 772 |
+
"source_session": "20261102/SM06/20261102_085844_session145"
|
| 773 |
+
},
|
| 774 |
+
"task": {
|
| 775 |
+
"primitive": "SM06",
|
| 776 |
+
"instruction": "Hold the open container and reach in with one hand to take an item out, then put it back. 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."
|
| 777 |
+
},
|
| 778 |
+
"objects": [
|
| 779 |
+
{
|
| 780 |
+
"name": "Table",
|
| 781 |
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