Release update 2026-11-05: new sessions, instructions, annotations (part 36)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +27 -0
- actions/static_manipulation/SM31/session_009/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM31/session_009/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM31/session_009/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM31/session_009/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM31/session_009/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM31/session_009/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM31/session_009/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM31/session_009/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM31/session_009/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM31/session_009/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM31/session_009/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM31/session_009/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM31/session_009/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM31/session_009/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM31/session_009/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM31/session_009/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM31/session_009/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM31/session_009/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM31/session_009/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM31/session_009/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM31/session_010/cameras/poses.npz +3 -0
- actions/static_manipulation/SM31/session_010/meta.json +732 -0
- actions/static_manipulation/SM31/session_010/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM31/session_010/motions/markers.npz +3 -0
- actions/static_manipulation/SM31/session_010/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM31/session_010/motions/objects.json +76 -0
- actions/static_manipulation/SM31/session_010/motions/objects.npz +3 -0
- actions/static_manipulation/SM31/session_010/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM31/session_010/motions/smplx.npz +3 -0
- actions/static_manipulation/SM31/session_010/raw/audio.wav +3 -0
- actions/static_manipulation/SM31/session_010/raw/manifest.json +352 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/LittleBox4.csv +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/LittleBox4.trc +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/LittleBox6.csv +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/LittleBox6.trc +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM31/session_010/raw/mocap/Table2.trc +0 -0
.gitattributes
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:02a45f757bf6eccd1a72bb253b1141e99097b7e19b59046e5e8774be2e6c1450
|
| 3 |
+
size 36865759
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actions/static_manipulation/SM31/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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| 2 |
+
oid sha256:496b08e7b5b15f810e18bb9aaf6a4de414e17c87c5e2d66d8e6082c0ab5da631
|
| 3 |
+
size 1160896
|
actions/static_manipulation/SM31/session_010/meta.json
ADDED
|
@@ -0,0 +1,732 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/SM31/20261031_092502_session111",
|
| 4 |
+
"session_id": "20261031_092502_session111",
|
| 5 |
+
"primitive": "SM31",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:54:39.188270+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": 136.95833333333334,
|
| 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 (global)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.08,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.3117,
|
| 32 |
+
"reference_imu_first_sample_s": 30496.92198918,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 1,
|
| 35 |
+
"window_corr_median": 0.6940726832900074
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"units": {
|
| 39 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 40 |
+
"y_up_to_z_up": [
|
| 41 |
+
[
|
| 42 |
+
1.0,
|
| 43 |
+
0.0,
|
| 44 |
+
0.0
|
| 45 |
+
],
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
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-1.0
|
| 50 |
+
],
|
| 51 |
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[
|
| 52 |
+
0.0,
|
| 53 |
+
1.0,
|
| 54 |
+
0.0
|
| 55 |
+
]
|
| 56 |
+
],
|
| 57 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 58 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 59 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 60 |
+
"quaternions": "xyzw, Nokov global"
|
| 61 |
+
},
|
| 62 |
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"calibration": {
|
| 63 |
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"device": "c9205ac6e17d2d5c",
|
| 64 |
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"status": "ok",
|
| 65 |
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"date": "2026-10-21"
|
| 66 |
+
},
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| 67 |
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"streams": {
|
| 68 |
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"sensors": {
|
| 69 |
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|
| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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},
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| 75 |
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"imu_head_left": {
|
| 76 |
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| 77 |
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| 78 |
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"t_start": 0.011915402001177425,
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| 79 |
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| 80 |
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},
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| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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"t_start": -0.8701797409977007,
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| 85 |
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| 86 |
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},
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| 87 |
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|
| 88 |
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| 89 |
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|
| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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"n": 13740,
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| 95 |
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| 96 |
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| 97 |
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},
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| 98 |
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| 99 |
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"n": 13678,
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| 100 |
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| 101 |
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| 102 |
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},
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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}
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| 108 |
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},
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| 109 |
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| 110 |
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| 111 |
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|
| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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"file": "robocap_segment1_video_left.mp4",
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| 119 |
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| 121 |
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| 122 |
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},
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| 124 |
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|
| 125 |
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| 126 |
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| 128 |
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| 132 |
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| 138 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 144 |
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| 145 |
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| 147 |
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| 148 |
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},
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| 151 |
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| 154 |
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| 155 |
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| 156 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 161 |
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| 164 |
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| 170 |
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| 184 |
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| 186 |
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| 187 |
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| 189 |
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| 193 |
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|
| 194 |
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| 195 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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| 196 |
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| 208 |
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| 209 |
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| 213 |
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},
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| 214 |
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"third_person": {
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| 215 |
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"file": "mocap/mocap-SM31-S01-huruoxuan-02p1-1.mp4",
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| 216 |
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| 217 |
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| 218 |
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| 219 |
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| 220 |
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| 221 |
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| 222 |
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}
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| 223 |
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},
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| 224 |
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"flags": [],
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| 225 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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| 226 |
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"rig_tracker": {
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| 227 |
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"definition": "c9205ac6e17d2d5c/20261031-afternoon/labels-324501/session-7245493e0f39bacb",
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| 228 |
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| 229 |
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[
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[
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| 242 |
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| 243 |
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]
|
| 244 |
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],
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| 246 |
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|
| 251 |
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| 252 |
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|
| 253 |
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"status": "unchecked",
|
| 254 |
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|
| 255 |
+
"gyro_deg": null
|
| 256 |
+
},
|
| 257 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 258 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 259 |
+
},
|
| 260 |
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"canonical": {
|
| 261 |
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"generated_at_utc": "2026-11-03T09:18:17.621807+00:00",
|
| 262 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 263 |
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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)",
|
| 264 |
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"R_canon_nokov": [
|
| 265 |
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[
|
| 266 |
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|
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0.0019619693,
|
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8.2636e-06
|
| 269 |
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],
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| 270 |
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]
|
| 280 |
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],
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| 282 |
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| 283 |
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[
|
| 284 |
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|
| 285 |
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1.961969e-06,
|
| 286 |
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8.264e-09,
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| 287 |
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],
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| 289 |
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[
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| 290 |
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| 291 |
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8.423624e-06,
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| 292 |
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| 293 |
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0.0
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| 294 |
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],
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| 295 |
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[
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| 296 |
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-1.961969e-06,
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| 297 |
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0.000999962596,
|
| 298 |
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8.423624e-06,
|
| 299 |
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0.0
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| 300 |
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],
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| 301 |
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[
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| 302 |
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0.0,
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| 303 |
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0.0,
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| 304 |
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0.0,
|
| 305 |
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1.0
|
| 306 |
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]
|
| 307 |
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],
|
| 308 |
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"block": "20261031-afternoon",
|
| 309 |
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"block_assignment": "trc",
|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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},
|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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-0.2605,
|
| 320 |
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-0.0747,
|
| 321 |
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9.7871
|
| 322 |
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],
|
| 323 |
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|
| 324 |
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|
| 325 |
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| 326 |
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},
|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
+
},
|
| 333 |
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"camera_pose_source": "provider T_tracker0_cam",
|
| 334 |
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"files": [
|
| 335 |
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"mocap_zup.npz",
|
| 336 |
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"tracker0_zup.npz",
|
| 337 |
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"rig_zup.npz",
|
| 338 |
+
"cameras_zup.npz"
|
| 339 |
+
]
|
| 340 |
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},
|
| 341 |
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"smplx": {
|
| 342 |
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"generated_at_utc": "2026-11-03T15:28:21.480265+00:00",
|
| 343 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 344 |
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"file": "smplx.npz",
|
| 345 |
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"gender": "female",
|
| 346 |
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"n_betas": 16,
|
| 347 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 348 |
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 349 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 350 |
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"hands": {
|
| 351 |
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"observed": false,
|
| 352 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 353 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 354 |
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| 355 |
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| 356 |
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|
| 357 |
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0.06734038889408112,
|
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0.016534941270947456,
|
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],
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| 362 |
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|
| 363 |
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0.009582990780472755,
|
| 364 |
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| 365 |
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|
| 366 |
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| 369 |
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|
| 370 |
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0.003464086912572384,
|
| 371 |
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|
| 375 |
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|
| 376 |
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]
|
| 378 |
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}
|
| 379 |
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}
|
| 380 |
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},
|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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},
|
| 385 |
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"worst_markers": [
|
| 386 |
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"LElbowIn 10mm",
|
| 387 |
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"LWristIn 10mm",
|
| 388 |
+
"LWristOut 9mm",
|
| 389 |
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"LForearm 6mm",
|
| 390 |
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"RElbowIn 6mm"
|
| 391 |
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],
|
| 392 |
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|
| 393 |
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|
| 394 |
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"lowest_vertex_mm": {
|
| 395 |
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"median": 17.6,
|
| 396 |
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"p5": 17.2
|
| 397 |
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},
|
| 398 |
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|
| 399 |
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|
| 400 |
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},
|
| 401 |
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|
| 402 |
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"weight": 1.0,
|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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},
|
| 407 |
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"shape_source": "participant median",
|
| 408 |
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|
| 409 |
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"left": {
|
| 410 |
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"status": "corrected",
|
| 411 |
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|
| 412 |
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|
| 413 |
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-0.013,
|
| 414 |
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-0.01661,
|
| 415 |
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0.06883
|
| 416 |
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],
|
| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 421 |
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|
| 422 |
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|
| 423 |
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"before": 4.92,
|
| 424 |
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"after": 5.28
|
| 425 |
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},
|
| 426 |
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"markers_on_wrist": [
|
| 427 |
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"LHandIn",
|
| 428 |
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"LHandOut"
|
| 429 |
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],
|
| 430 |
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|
| 431 |
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"twist_moved_deg": -8.71,
|
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|
| 433 |
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|
| 434 |
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|
| 435 |
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-25.0,
|
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25.8
|
| 437 |
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]
|
| 438 |
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},
|
| 439 |
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|
| 440 |
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"markers_on_forearm": [
|
| 441 |
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"LForearm",
|
| 442 |
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"LWristIn",
|
| 443 |
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"LWristOut"
|
| 444 |
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]
|
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|
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|
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1.04262,
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0.44139,
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|
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|
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|
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|
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|
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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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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{
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|
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},
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{
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"t0": 117.1,
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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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|
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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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"right": {
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"imu"
|
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|
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|
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"release": {
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"release_path": "actions/static_manipulation/SM31/session_010",
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"primitive": "SM31",
|
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"source_session": "20261031/SM31/20261031_092502_session111"
|
| 719 |
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},
|
| 720 |
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"task": {
|
| 721 |
+
"primitive": "SM31",
|
| 722 |
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"instruction": "Fit the two parts together, then take them apart again. 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."
|
| 723 |
+
},
|
| 724 |
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"objects": [
|
| 725 |
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{
|
| 726 |
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"name": "Table",
|
| 727 |
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"object_type": "Table",
|
| 728 |
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"source": "mocap",
|
| 729 |
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"pose_frame": "rigid_body"
|
| 730 |
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}
|
| 731 |
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]
|
| 732 |
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}
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actions/static_manipulation/SM31/session_010/motions/head_rig.npz
ADDED
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version https://git-lfs.github.com/spec/v1
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size 1128071
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actions/static_manipulation/SM31/session_010/motions/markers.npz
ADDED
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ADDED
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version https://git-lfs.github.com/spec/v1
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size 585849
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ADDED
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@@ -0,0 +1,76 @@
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|
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{
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|
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"held_by": "from mocap hands",
|
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|
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{
|
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"name": "Table",
|
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|
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|
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}
|
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