Release update 2026-11-05: new sessions, instructions, annotations (part 8)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox1.csv +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox1.trc +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox2.csv +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox2.trc +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox3.csv +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox3.trc +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox4.csv +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/LittleBox4.trc +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM10/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM10/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM10/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM10/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM10/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM10/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM10/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM10/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM10/session_006/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM10/session_006/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM10/session_006/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM10/session_006/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM10/session_006/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM10/session_006/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM10/session_006/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM11/session_001/annotations.json +39 -0
- actions/static_manipulation/SM11/session_001/cameras/slam.npz +3 -0
- actions/static_manipulation/SM11/session_001/meta.json +4 -0
- actions/static_manipulation/SM11/session_001/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM11/session_002/annotations.json +39 -0
- actions/static_manipulation/SM11/session_002/cameras/gsi_online_calibration.json +256 -0
- actions/static_manipulation/SM11/session_002/cameras/slam.npz +3 -0
- actions/static_manipulation/SM11/session_002/meta.json +4 -0
- actions/static_manipulation/SM11/session_002/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM11/session_003/meta.json +4 -6
- actions/static_manipulation/SM11/session_004/cameras/poses.npz +3 -0
- actions/static_manipulation/SM11/session_004/meta.json +562 -0
- actions/static_manipulation/SM11/session_004/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM11/session_004/motions/markers.npz +3 -0
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oid sha256:771a09a38edd7340efd854f108f546d72a92d4e7ebd5ee3ee7299fd113446722
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| 3 |
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size 57334153
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actions/static_manipulation/SM11/session_001/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "SM11",
|
| 6 |
+
"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 128.966722,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
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"video_t_start": 0.038505555579782635
|
| 13 |
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}
|
| 14 |
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],
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"episodes": [
|
| 16 |
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{
|
| 17 |
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"id": "c5d40016-8a6c-44f5-a09e-8fa8e17860cb",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "SM11",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
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"end_s": 63.312,
|
| 23 |
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"t_start": 0.0385,
|
| 24 |
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"t_end": 63.3505,
|
| 25 |
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"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop."
|
| 26 |
+
},
|
| 27 |
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{
|
| 28 |
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"id": "f14c6c6e-06e1-4157-a9c5-8ea143b656c8",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM11",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 63.312,
|
| 33 |
+
"end_s": 123.999,
|
| 34 |
+
"t_start": 63.3505,
|
| 35 |
+
"t_end": 124.0375,
|
| 36 |
+
"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM11/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:06e0af29a6716d2263c4c9530da55f45757910db552b21e9bc1684a409daad3f
|
| 3 |
+
size 742913
|
actions/static_manipulation/SM11/session_001/meta.json
CHANGED
|
@@ -509,5 +509,9 @@
|
|
| 509 |
"family": "static_manipulation",
|
| 510 |
"primitive": "SM11",
|
| 511 |
"source_session": "20260915/SM11/20260915_013246_session9"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 512 |
}
|
| 513 |
}
|
|
|
|
| 509 |
"family": "static_manipulation",
|
| 510 |
"primitive": "SM11",
|
| 511 |
"source_session": "20260915/SM11/20260915_013246_session9"
|
| 512 |
+
},
|
| 513 |
+
"task": {
|
| 514 |
+
"primitive": "SM11",
|
| 515 |
+
"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop."
|
| 516 |
}
|
| 517 |
}
|
actions/static_manipulation/SM11/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be89e5bd3b9100037bbc343d44dcaa00c3ec849d0df65eefb4963f10793c3065
|
| 3 |
+
size 5093135
|
actions/static_manipulation/SM11/session_002/annotations.json
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "SM11",
|
| 6 |
+
"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 140.100011,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.040434580469156184
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "5e32dcae-eb47-4b96-a7b3-90b1ff87d267",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "SM11",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1,
|
| 22 |
+
"end_s": 62.325,
|
| 23 |
+
"t_start": 1.0404,
|
| 24 |
+
"t_end": 62.3654,
|
| 25 |
+
"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop."
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"id": "83435d11-72c9-4620-9732-feb11c1f5f73",
|
| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM11",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 62.325,
|
| 33 |
+
"end_s": 137.348,
|
| 34 |
+
"t_start": 62.3654,
|
| 35 |
+
"t_end": 137.3884,
|
| 36 |
+
"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM11/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
|
|
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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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|
|
|
|
|
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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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|
|
|
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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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|
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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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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
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"groups_used": 15,
|
| 5 |
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"median_px": 0.397
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
+
"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
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"right"
|
| 16 |
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],
|
| 17 |
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"delta_deg": 1.6805,
|
| 18 |
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"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.519,
|
| 20 |
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"held_out_px_before": 12.379,
|
| 21 |
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"inliers": 1815,
|
| 22 |
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"position_fitted": false,
|
| 23 |
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"rotvec_deg": [
|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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],
|
| 28 |
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"split_deg": 0.1205,
|
| 29 |
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"usable": true
|
| 30 |
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},
|
| 31 |
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"left_eye": {
|
| 32 |
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"accepted": true,
|
| 33 |
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"against": [
|
| 34 |
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"left_front",
|
| 35 |
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"right_front",
|
| 36 |
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"right_eye",
|
| 37 |
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"left",
|
| 38 |
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"right"
|
| 39 |
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],
|
| 40 |
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"delta_deg": 2.6086,
|
| 41 |
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"gate_fail": [],
|
| 42 |
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"held_out_px_after": 0.606,
|
| 43 |
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"held_out_px_before": 10.565,
|
| 44 |
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"inliers": 2484,
|
| 45 |
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"position_fitted": true,
|
| 46 |
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"position_mm": [
|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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],
|
| 51 |
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"position_sigma_mm": 0.309,
|
| 52 |
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"position_split_mm": 2.224,
|
| 53 |
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"rotvec_deg": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"split_deg": 0.0647,
|
| 59 |
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"usable": true
|
| 60 |
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},
|
| 61 |
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"left_front": {
|
| 62 |
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"role": "rig origin"
|
| 63 |
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},
|
| 64 |
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"right": {
|
| 65 |
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"accepted": true,
|
| 66 |
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"against": [
|
| 67 |
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"left_front",
|
| 68 |
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"right_front",
|
| 69 |
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"left_eye",
|
| 70 |
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"right_eye",
|
| 71 |
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"left"
|
| 72 |
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],
|
| 73 |
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"delta_deg": 3.4242,
|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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"inliers": 730,
|
| 78 |
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|
| 79 |
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"rotvec_deg": [
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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],
|
| 84 |
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"split_deg": 0.0778,
|
| 85 |
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"usable": true
|
| 86 |
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},
|
| 87 |
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|
| 88 |
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"accepted": true,
|
| 89 |
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"against": [
|
| 90 |
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"left_front",
|
| 91 |
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"right_front",
|
| 92 |
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"left_eye",
|
| 93 |
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"left",
|
| 94 |
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"right"
|
| 95 |
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],
|
| 96 |
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"delta_deg": 3.1519,
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"position_fitted": true,
|
| 102 |
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"position_mm": [
|
| 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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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
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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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"right_front": {
|
| 118 |
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"accepted": true,
|
| 119 |
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"against": [
|
| 120 |
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"left_front",
|
| 121 |
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"left_eye",
|
| 122 |
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"right_eye",
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/SM11/20261028_112833_session151",
|
| 4 |
+
"session_id": "20261028_112833_session151",
|
| 5 |
+
"primitive": "SM11",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:32:30.307170+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": 104.625,
|
| 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": -0.087481,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9279,
|
| 32 |
+
"reference_imu_first_sample_s": 35114.671859867,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 9,
|
| 35 |
+
"window_corr_median": 0.7047325277960483,
|
| 36 |
+
"drift_ppm": 22.02521894162493,
|
| 37 |
+
"drift_se_ppm": 32.482291893733056,
|
| 38 |
+
"drift_ms_over_take": 2.3042049882763282,
|
| 39 |
+
"lag_scatter_ms": 2.2189629720040744,
|
| 40 |
+
"lag_range_ms": 6.993849166329946
|
| 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": 21298,
|
| 76 |
+
"n_gyro": 21292,
|
| 77 |
+
"t_start": -0.09437607733907757,
|
| 78 |
+
"t_end": 104.81206256366367
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 21168,
|
| 82 |
+
"n_gyro": 21163,
|
| 83 |
+
"t_start": 0.01691067265873894,
|
| 84 |
+
"t_end": 104.97267673766127
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 20625,
|
| 88 |
+
"n_gyro": 20639,
|
| 89 |
+
"t_start": -0.9454952093385172,
|
| 90 |
+
"t_end": 103.20872431366097
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 20558,
|
| 94 |
+
"n_gyro": 20568,
|
| 95 |
+
"t_start": -0.8549235393385997,
|
| 96 |
+
"t_end": 103.22059003166014
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 10503,
|
| 100 |
+
"t_start": 0.11444317266231988,
|
| 101 |
+
"t_end": 105.13442405566256
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 10415,
|
| 105 |
+
"t_start": -0.9372450763423357,
|
| 106 |
+
"t_end": 103.20237252566385
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 10407,
|
| 110 |
+
"t_start": -0.8366178303424048,
|
| 111 |
+
"t_end": 103.22297019365742
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 35114.795889,
|
| 118 |
+
"frames": 3138,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03917640731178576,
|
| 124 |
+
"t_end": 104.60569840731277,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 35114.795832,
|
| 131 |
+
"frames": 3138,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03890908627890635,
|
| 137 |
+
"t_end": 104.60546508627685,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 35114.795872,
|
| 144 |
+
"frames": 3138,
|
| 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": 0.038989918733747936,
|
| 150 |
+
"t_end": 104.60552291873118,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 35114.795907,
|
| 157 |
+
"frames": 3138,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03870805313435735,
|
| 163 |
+
"t_end": 104.60521905313162,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 35114.795851,
|
| 170 |
+
"frames": 3137,
|
| 171 |
+
"pts_gaps": 1,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
+
"gap_test": {
|
| 175 |
+
"pts": {
|
| 176 |
+
"offset_ms": 25.7,
|
| 177 |
+
"corr": 0.761,
|
| 178 |
+
"err_ms": 22.9
|
| 179 |
+
},
|
| 180 |
+
"nominal": {
|
| 181 |
+
"offset_ms": 75.6,
|
| 182 |
+
"corr": 0.761,
|
| 183 |
+
"err_ms": 72.8
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.03931195626300646,
|
| 188 |
+
"t_end": 104.62251195626395,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 35114.795802,
|
| 195 |
+
"frames": 3138,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
+
"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
+
"t_start": 0.03939133854673596,
|
| 201 |
+
"t_end": 104.60596933854485,
|
| 202 |
+
"clock": "device",
|
| 203 |
+
"calibrated": true
|
| 204 |
+
},
|
| 205 |
+
"wrist_left": {
|
| 206 |
+
"fps": 30.0,
|
| 207 |
+
"start_device_s": 35113.938475,
|
| 208 |
+
"frames": 3121,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
+
"timing": "pts",
|
| 211 |
+
"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
+
"t_start": -0.8208660283364251,
|
| 214 |
+
"t_end": 103.17874297166217,
|
| 215 |
+
"clock": "device",
|
| 216 |
+
"calibrated": false
|
| 217 |
+
},
|
| 218 |
+
"wrist_right": {
|
| 219 |
+
"fps": 30.0,
|
| 220 |
+
"start_device_s": 35113.809821,
|
| 221 |
+
"frames": 3124,
|
| 222 |
+
"pts_gaps": 0,
|
| 223 |
+
"timing": "pts",
|
| 224 |
+
"timeshift_cam_imu_s": null,
|
| 225 |
+
"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.9495200283365219,
|
| 227 |
+
"t_end": 103.15008897166062,
|
| 228 |
+
"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-SM11-S01-yanyitong-02p1-1.mp4",
|
| 233 |
+
"frames": 3139,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
+
"clock": "nokov (frame index)",
|
| 236 |
+
"t_start": 0.0,
|
| 237 |
+
"t_end": 104.6
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
+
"rig_tracker": {
|
| 244 |
+
"definition": "c9205ac6e17d2d5c/20261028-afternoon/labels-235140/session-c2a06d323d92706e",
|
| 245 |
+
"R_tracker0_imu0": [
|
| 246 |
+
[
|
| 247 |
+
-0.67275571,
|
| 248 |
+
0.01208363,
|
| 249 |
+
-0.73976601
|
| 250 |
+
],
|
| 251 |
+
[
|
| 252 |
+
0.73345243,
|
| 253 |
+
0.1422464,
|
| 254 |
+
-0.66469053
|
| 255 |
+
],
|
| 256 |
+
[
|
| 257 |
+
0.09719718,
|
| 258 |
+
-0.98975752,
|
| 259 |
+
-0.10455984
|
| 260 |
+
]
|
| 261 |
+
],
|
| 262 |
+
"p_tracker0_imu0_m": [
|
| 263 |
+
-0.18182139114668602,
|
| 264 |
+
-0.013734946437874143,
|
| 265 |
+
0.004946214139663593
|
| 266 |
+
],
|
| 267 |
+
"rig_check": {
|
| 268 |
+
"gyro_samples": 821,
|
| 269 |
+
"gyro_max_deg": 2.5,
|
| 270 |
+
"status": "ok",
|
| 271 |
+
"dropped_marker": null,
|
| 272 |
+
"gyro_deg": 2.497
|
| 273 |
+
},
|
| 274 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 275 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 276 |
+
},
|
| 277 |
+
"canonical": {
|
| 278 |
+
"generated_at_utc": "2026-10-30T18:48:49.801638+00:00",
|
| 279 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 280 |
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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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|
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"instruction": "Crouch down and place the object on the lowest shelf, then stand back up. Do not step. Repeat at your own pace until the operator says stop."
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actions/static_manipulation/SM11/session_004/motions/head_rig.npz
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version https://git-lfs.github.com/spec/v1
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