Release update 2026-11-05: new sessions, instructions, annotations (part 47)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261023/LM47/20261023_010840_session9",
|
| 4 |
+
"session_id": "20261023_010840_session9",
|
| 5 |
+
"primitive": "LM47",
|
| 6 |
+
"batch": "20261023",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:41:03.295842+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": 122.025,
|
| 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": -0.088826,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9643,
|
| 32 |
+
"reference_imu_first_sample_s": 2834.201760132,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9819946900830517,
|
| 36 |
+
"drift_ppm": -490.6357126078538,
|
| 37 |
+
"drift_se_ppm": 274.8099073927581,
|
| 38 |
+
"drift_ms_over_take": -59.865734200034964,
|
| 39 |
+
"lag_scatter_ms": 26.070756928231802,
|
| 40 |
+
"lag_range_ms": 107.00503214754079
|
| 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": 24834,
|
| 76 |
+
"n_gyro": 24827,
|
| 77 |
+
"t_start": -0.10066145075122179,
|
| 78 |
+
"t_end": 122.221870971249
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24682,
|
| 82 |
+
"n_gyro": 24676,
|
| 83 |
+
"t_start": 0.007312382248738203,
|
| 84 |
+
"t_end": 122.38518760524879
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24032,
|
| 88 |
+
"n_gyro": 24031,
|
| 89 |
+
"t_start": -0.8257062617510833,
|
| 90 |
+
"t_end": 120.52731013624883
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 23961,
|
| 94 |
+
"n_gyro": 23961,
|
| 95 |
+
"t_start": -0.7651908377508967,
|
| 96 |
+
"t_end": 120.53159677624875
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12247,
|
| 100 |
+
"t_start": 0.09037525724873419,
|
| 101 |
+
"t_end": 122.55036556624894
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12134,
|
| 105 |
+
"t_start": -0.8066448467509595,
|
| 106 |
+
"t_end": 120.5233790782488
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12129,
|
| 110 |
+
"t_start": -0.7566871097508461,
|
| 111 |
+
"t_end": 120.52387262624892
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2834.327694,
|
| 118 |
+
"frames": 3660,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039736301896237336,
|
| 124 |
+
"t_end": 122.00635830189616,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2834.327672,
|
| 131 |
+
"frames": 3660,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03950398086474749,
|
| 137 |
+
"t_end": 122.00611498086458,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 2834.327686,
|
| 144 |
+
"frames": 3660,
|
| 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": 0.03955881331624411,
|
| 150 |
+
"t_end": 122.00618081331616,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 2834.327702,
|
| 157 |
+
"frames": 3660,
|
| 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": 0.039257947723154274,
|
| 163 |
+
"t_end": 122.00587994772307,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
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},
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}
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}
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},
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},
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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},
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"generated_by": "scripts/canonicalise_dataset.py",
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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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],
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[
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0.0
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]
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],
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},
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0.0023,
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},
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},
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| 338 |
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"camera_pose_source": "provider T_tracker0_cam",
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"files": [
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| 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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},
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| 346 |
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"generated_at_utc": "2026-11-03T09:26:30.795550+00:00",
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"generated_by": "scripts/fit_smplx_dataset.py",
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"file": "smplx.npz",
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| 350 |
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"gender": "male",
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| 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)",
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| 355 |
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"hands": {
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| 356 |
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"observed": false,
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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",
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}
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"marker_rmse_mm": {
|
| 397 |
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"median_frame": 5.5,
|
| 398 |
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"p95_frame": 12.7
|
| 399 |
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},
|
| 400 |
+
"worst_markers": [
|
| 401 |
+
"CLAV 16mm",
|
| 402 |
+
"LKnee 14mm",
|
| 403 |
+
"LKneeIn 13mm",
|
| 404 |
+
"WaistLFront 12mm",
|
| 405 |
+
"RKneeIn 12mm"
|
| 406 |
+
],
|
| 407 |
+
"valid_fraction": 1.0,
|
| 408 |
+
"qc": {
|
| 409 |
+
"lowest_vertex_mm": {
|
| 410 |
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"median": 5.2,
|
| 411 |
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"p5": -1.3
|
| 412 |
+
},
|
| 413 |
+
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|
| 414 |
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"stature_mm": 1765.5
|
| 415 |
+
},
|
| 416 |
+
"surface_term": {
|
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+
"weight": 1.0,
|
| 418 |
+
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|
| 419 |
+
"markers_on_surface": 52,
|
| 420 |
+
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|
| 421 |
+
},
|
| 422 |
+
"shape_source": "participant median",
|
| 423 |
+
"wrist_correction": {
|
| 424 |
+
"left": {
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| 425 |
+
"status": "corrected",
|
| 426 |
+
"Q_deg": 130.1,
|
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+
"Q_rotvec": [
|
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+
2.21645,
|
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-0.20315,
|
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-0.44916
|
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],
|
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|
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|
| 434 |
+
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|
| 435 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 436 |
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|
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|
| 438 |
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|
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|
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},
|
| 441 |
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| 442 |
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"LWristIn",
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"LHandIn",
|
| 444 |
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"LHandOut"
|
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],
|
| 446 |
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|
| 447 |
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|
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|
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"median": 16.52,
|
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|
| 451 |
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6.5,
|
| 452 |
+
42.4
|
| 453 |
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]
|
| 454 |
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},
|
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"wrist_total_deg_median_after": 38.8,
|
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|
| 457 |
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"LForearm",
|
| 458 |
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"LWristOut"
|
| 459 |
+
]
|
| 460 |
+
},
|
| 461 |
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"frames_used": 1465
|
| 462 |
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},
|
| 463 |
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"right": {
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"status": "corrected",
|
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+
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|
| 466 |
+
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|
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0.6947,
|
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+
0.23116,
|
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+
-0.13668
|
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],
|
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+
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|
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+
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|
| 473 |
+
"opposite_sign_bend_deg": 160.2,
|
| 474 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 475 |
+
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|
| 476 |
+
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|
| 477 |
+
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|
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+
"after": 2.6
|
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+
},
|
| 480 |
+
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|
| 481 |
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"RWristOut",
|
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"RHandIn",
|
| 483 |
+
"RHandOut"
|
| 484 |
+
],
|
| 485 |
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|
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+
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|
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+
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|
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"median": -0.0,
|
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+
"iqr": [
|
| 490 |
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-9.1,
|
| 491 |
+
8.5
|
| 492 |
+
]
|
| 493 |
+
},
|
| 494 |
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"wrist_total_deg_median_after": 14.9,
|
| 495 |
+
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|
| 496 |
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"RForearm",
|
| 497 |
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"RWristIn"
|
| 498 |
+
]
|
| 499 |
+
},
|
| 500 |
+
"frames_used": 1465
|
| 501 |
+
},
|
| 502 |
+
"generated_at_utc": "2026-11-03T09:26:33.837738+00:00",
|
| 503 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 504 |
+
}
|
| 505 |
+
},
|
| 506 |
+
"release": {
|
| 507 |
+
"release_path": "actions/locomanipulation/LM47/session_022",
|
| 508 |
+
"family": "locomanipulation",
|
| 509 |
+
"primitive": "LM47",
|
| 510 |
+
"source_session": "20261023/LM47/20261023_010840_session9"
|
| 511 |
+
},
|
| 512 |
+
"task": {
|
| 513 |
+
"primitive": "LM47",
|
| 514 |
+
"instruction": "Carry the boxes over one at a time and lay them out on the pallet in the pattern the operator shows you. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 515 |
+
},
|
| 516 |
+
"objects": [
|
| 517 |
+
{
|
| 518 |
+
"name": "LittleBox1",
|
| 519 |
+
"object_type": "LittleBox",
|
| 520 |
+
"source": "mocap",
|
| 521 |
+
"pose_frame": "rigid_body"
|
| 522 |
+
},
|
| 523 |
+
{
|
| 524 |
+
"name": "LittleBox2",
|
| 525 |
+
"object_type": "LittleBox",
|
| 526 |
+
"source": "mocap",
|
| 527 |
+
"pose_frame": "mesh"
|
| 528 |
+
},
|
| 529 |
+
{
|
| 530 |
+
"name": "LittleBox3",
|
| 531 |
+
"object_type": "LittleBox",
|
| 532 |
+
"source": "mocap",
|
| 533 |
+
"pose_frame": "mesh"
|
| 534 |
+
},
|
| 535 |
+
{
|
| 536 |
+
"name": "LittleBox4",
|
| 537 |
+
"object_type": "LittleBox",
|
| 538 |
+
"source": "mocap",
|
| 539 |
+
"pose_frame": "mesh"
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"name": "LittleBox5",
|
| 543 |
+
"object_type": "LittleBox",
|
| 544 |
+
"source": "mocap",
|
| 545 |
+
"pose_frame": "mesh"
|
| 546 |
+
},
|
| 547 |
+
{
|
| 548 |
+
"name": "LittleBox6",
|
| 549 |
+
"object_type": "LittleBox",
|
| 550 |
+
"source": "mocap",
|
| 551 |
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| 1 |
+
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
+
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 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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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 41 |
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| 62 |
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