Upload folder using huggingface_hub (part 365)
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- .gitattributes +46 -0
- actions/locomanipulation/LM38/session_021/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM38/session_021/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM38/session_021/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM38/session_021/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM38/session_021/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM38/session_021/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM38/session_021/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM38/session_021/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM38/session_021/scene/infer.json +36 -0
- actions/locomanipulation/LM38/session_021/scene/views.npz +3 -0
- actions/locomanipulation/LM38/session_021/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM38/session_021/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM38/session_021/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM38/session_021/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM38/session_021/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM38/session_021/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM38/session_021/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM38/session_022/cameras/poses.npz +3 -0
- actions/locomanipulation/LM38/session_022/meta.json +510 -0
- actions/locomanipulation/LM38/session_022/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM38/session_022/motions/markers.npz +3 -0
- actions/locomanipulation/LM38/session_022/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM38/session_022/motions/smplx.npz +3 -0
- actions/locomanipulation/LM38/session_022/raw/audio.wav +3 -0
- actions/locomanipulation/LM38/session_022/raw/manifest.json +261 -0
- actions/locomanipulation/LM38/session_022/raw/mocap/Body0.bvh +3 -0
- actions/locomanipulation/LM38/session_022/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM38/session_022/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM38/session_022/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM38/session_022/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM38/session_022/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM38/session_022/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM38/session_022/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM38/session_022/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM38/session_022/raw/sensors/robowrist_imu_right.db +0 -0
- actions/locomanipulation/LM38/session_022/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM38/session_022/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM38/session_022/scene/infer.json +36 -0
- actions/locomanipulation/LM38/session_022/scene/views.npz +3 -0
- actions/locomanipulation/LM38/session_022/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM38/session_022/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM38/session_022/sensors/wrist_imu.npz +3 -0
.gitattributes
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actions/locomanipulation/LM38/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM38/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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{
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"session": "EgoMotionActions/20261014/LM38/20261014_020718_session25",
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"session_id": "20261014_020718_session25",
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"primitive": "LM38",
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"batch": "20261014",
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| 17 |
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| 23 |
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},
|
| 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": -1.175305,
|
| 29 |
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|
| 30 |
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"global_lag_s": -1.175,
|
| 31 |
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"peak_corr": 0.9913,
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"reference_imu_first_sample_s": 6789.294656526,
|
| 33 |
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"windows": {
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| 34 |
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|
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"window_corr_median": 0.9983562656496645,
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| 36 |
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"drift_ppm": -0.24395959849942125,
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"drift_ms_over_take": -0.0375738441622192,
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| 40 |
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"lag_range_ms": 1.9243356220555174
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| 41 |
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}
|
| 42 |
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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": [
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| 46 |
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[
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| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 31262,
|
| 76 |
+
"n_gyro": 31256,
|
| 77 |
+
"t_start": -1.182287403743418,
|
| 78 |
+
"t_end": 154.67299360525703
|
| 79 |
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},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 31204,
|
| 82 |
+
"n_gyro": 31199,
|
| 83 |
+
"t_start": -1.068622153743478,
|
| 84 |
+
"t_end": 154.84459412225624
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_left": {
|
| 87 |
+
"n_acc": 30269,
|
| 88 |
+
"n_gyro": 30282,
|
| 89 |
+
"t_start": 0.35729748625636937,
|
| 90 |
+
"t_end": 149.85487117825687
|
| 91 |
+
},
|
| 92 |
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"mag_head": {
|
| 93 |
+
"n": 15601,
|
| 94 |
+
"t_start": -0.9897928627433306,
|
| 95 |
+
"t_end": 155.01020396225704
|
| 96 |
+
},
|
| 97 |
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"mag_wrist_right": {
|
| 98 |
+
"n": 14963,
|
| 99 |
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"t_start": 0.23035081525632783,
|
| 100 |
+
"t_end": 149.85035512325703
|
| 101 |
+
},
|
| 102 |
+
"mag_wrist_left": {
|
| 103 |
+
"n": 14949,
|
| 104 |
+
"t_start": 0.3706828412569063,
|
| 105 |
+
"t_end": 149.85059976325647
|
| 106 |
+
}
|
| 107 |
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},
|
| 108 |
+
"videos": {
|
| 109 |
+
"left": {
|
| 110 |
+
"fps": 30.0,
|
| 111 |
+
"start_device_s": 6790.506955,
|
| 112 |
+
"frames": 4620,
|
| 113 |
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"pts_gaps": 0,
|
| 114 |
+
"timing": "pts",
|
| 115 |
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"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 116 |
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"file": "robocap_segment1_video_left.mp4",
|
| 117 |
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"t_start": 0.03933562305520688,
|
| 118 |
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"t_end": 154.00594662305502,
|
| 119 |
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"clock": "device",
|
| 120 |
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"calibrated": true
|
| 121 |
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},
|
| 122 |
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"right": {
|
| 123 |
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"fps": 30.0,
|
| 124 |
+
"start_device_s": 6790.506899,
|
| 125 |
+
"frames": 4620,
|
| 126 |
+
"pts_gaps": 0,
|
| 127 |
+
"timing": "pts",
|
| 128 |
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"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 129 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 130 |
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"t_start": 0.03888619890223133,
|
| 131 |
+
"t_end": 154.0055301989023,
|
| 132 |
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"clock": "device",
|
| 133 |
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"calibrated": true
|
| 134 |
+
},
|
| 135 |
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"left_front": {
|
| 136 |
+
"fps": 30.0,
|
| 137 |
+
"start_device_s": 6790.506936,
|
| 138 |
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"frames": 4619,
|
| 139 |
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"pts_gaps": 1,
|
| 140 |
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"timing": "pts",
|
| 141 |
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"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 142 |
+
"gap_test": {
|
| 143 |
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"pts": {
|
| 144 |
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"offset_ms": -14.1,
|
| 145 |
+
"corr": 0.958,
|
| 146 |
+
"err_ms": 15.9
|
| 147 |
+
},
|
| 148 |
+
"nominal": {
|
| 149 |
+
"offset_ms": 19.2,
|
| 150 |
+
"corr": 0.958,
|
| 151 |
+
"err_ms": 17.4
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 155 |
+
"t_start": 0.03879135749504137,
|
| 156 |
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"t_end": 154.00541335749494,
|
| 157 |
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"clock": "device",
|
| 158 |
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"calibrated": true
|
| 159 |
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},
|
| 160 |
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"right_front": {
|
| 161 |
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"fps": 30.0,
|
| 162 |
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"start_device_s": 6790.506974,
|
| 163 |
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"frames": 4620,
|
| 164 |
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|
| 165 |
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"timing": "pts",
|
| 166 |
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"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 167 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 168 |
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"t_start": 0.03874179890409657,
|
| 169 |
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|
| 170 |
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"clock": "device",
|
| 171 |
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"calibrated": true
|
| 172 |
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},
|
| 173 |
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"left_eye": {
|
| 174 |
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"fps": 30.0,
|
| 175 |
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"start_device_s": 6790.506919,
|
| 176 |
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"frames": 4620,
|
| 177 |
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"pts_gaps": 0,
|
| 178 |
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"timing": "pts",
|
| 179 |
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"timeshift_cam_imu_s": 0.001668932298833096,
|
| 180 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 181 |
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"t_start": 0.03862616655625395,
|
| 182 |
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"t_end": 154.00525916655624,
|
| 183 |
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"clock": "device",
|
| 184 |
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"calibrated": true
|
| 185 |
+
},
|
| 186 |
+
"right_eye": {
|
| 187 |
+
"fps": 30.0,
|
| 188 |
+
"start_device_s": 6790.506875,
|
| 189 |
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"frames": 4620,
|
| 190 |
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"pts_gaps": 0,
|
| 191 |
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"timing": "pts",
|
| 192 |
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"timeshift_cam_imu_s": 0.0017169377622902274,
|
| 193 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 194 |
+
"t_start": 0.038630172019123776,
|
| 195 |
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"t_end": 154.0052861720187,
|
| 196 |
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"clock": "device",
|
| 197 |
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"calibrated": true
|
| 198 |
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},
|
| 199 |
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"wrist_left": {
|
| 200 |
+
"fps": 30.0,
|
| 201 |
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"start_device_s": 6790.813387,
|
| 202 |
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"frames": 4485,
|
| 203 |
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"pts_gaps": 0,
|
| 204 |
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"timing": "pts",
|
| 205 |
+
"timeshift_cam_imu_s": null,
|
| 206 |
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"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 207 |
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"t_start": 0.3434252342567685,
|
| 208 |
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"t_end": 149.81002723425718,
|
| 209 |
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"clock": "device",
|
| 210 |
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"calibrated": false
|
| 211 |
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},
|
| 212 |
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"wrist_right": {
|
| 213 |
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"fps": 30.0,
|
| 214 |
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"start_device_s": 6790.812584,
|
| 215 |
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"frames": 4485,
|
| 216 |
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"pts_gaps": 0,
|
| 217 |
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"timing": "pts",
|
| 218 |
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"timeshift_cam_imu_s": null,
|
| 219 |
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"file": "robowrist_6ee5ee4472fe2ad7_right/robowrist_segment1_video_right_down.mp4",
|
| 220 |
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"t_start": 0.3426222342568632,
|
| 221 |
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|
| 222 |
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"clock": "device",
|
| 223 |
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"calibrated": false
|
| 224 |
+
},
|
| 225 |
+
"third_person": {
|
| 226 |
+
"file": "mocap/mocap-LM38-S02-fengyixuan-01p1-1.mp4",
|
| 227 |
+
"frames": 4621,
|
| 228 |
+
"fps": 30.0,
|
| 229 |
+
"clock": "nokov (frame index)",
|
| 230 |
+
"t_start": 0.0,
|
| 231 |
+
"t_end": 154.0
|
| 232 |
+
}
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
"flags": [
|
| 236 |
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"wrist_right_imu empty"
|
| 237 |
+
],
|
| 238 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 239 |
+
"rig_tracker": {
|
| 240 |
+
"definition": "e17c9efadb69e7b1/20261014-morning/labels-352410/session-86df094d04269a04",
|
| 241 |
+
"R_tracker0_imu0": [
|
| 242 |
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[
|
| 243 |
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-0.64941049,
|
| 244 |
+
0.1752403,
|
| 245 |
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-0.73997085
|
| 246 |
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],
|
| 247 |
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[
|
| 248 |
+
0.75614121,
|
| 249 |
+
0.04551036,
|
| 250 |
+
-0.65282408
|
| 251 |
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],
|
| 252 |
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[
|
| 253 |
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-0.08072475,
|
| 254 |
+
-0.98347325,
|
| 255 |
+
-0.16206132
|
| 256 |
+
]
|
| 257 |
+
],
|
| 258 |
+
"p_tracker0_imu0_m": [
|
| 259 |
+
-0.17732197748991774,
|
| 260 |
+
-0.015038984936630086,
|
| 261 |
+
-0.010931243132891495
|
| 262 |
+
],
|
| 263 |
+
"rig_check": {
|
| 264 |
+
"gyro_samples": 2731,
|
| 265 |
+
"gyro_max_deg": 2.5,
|
| 266 |
+
"status": "ok",
|
| 267 |
+
"dropped_marker": null,
|
| 268 |
+
"gyro_deg": 0.865
|
| 269 |
+
},
|
| 270 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 271 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 272 |
+
},
|
| 273 |
+
"canonical": {
|
| 274 |
+
"generated_at_utc": "2026-10-21T06:55:42.893459+00:00",
|
| 275 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 276 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 277 |
+
"R_canon_nokov": [
|
| 278 |
+
[
|
| 279 |
+
1.0,
|
| 280 |
+
0.0,
|
| 281 |
+
0.0
|
| 282 |
+
],
|
| 283 |
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[
|
| 284 |
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0.0,
|
| 285 |
+
0.0,
|
| 286 |
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-1.0
|
| 287 |
+
],
|
| 288 |
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[
|
| 289 |
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0.0,
|
| 290 |
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1.0,
|
| 291 |
+
0.0
|
| 292 |
+
]
|
| 293 |
+
],
|
| 294 |
+
"scale_nokov_to_canon": 0.001,
|
| 295 |
+
"T_canon_nokov_mm": [
|
| 296 |
+
[
|
| 297 |
+
0.001,
|
| 298 |
+
0.0,
|
| 299 |
+
0.0,
|
| 300 |
+
0.0
|
| 301 |
+
],
|
| 302 |
+
[
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
-0.001,
|
| 306 |
+
0.0
|
| 307 |
+
],
|
| 308 |
+
[
|
| 309 |
+
0.0,
|
| 310 |
+
0.001,
|
| 311 |
+
0.0,
|
| 312 |
+
0.0
|
| 313 |
+
],
|
| 314 |
+
[
|
| 315 |
+
0.0,
|
| 316 |
+
0.0,
|
| 317 |
+
0.0,
|
| 318 |
+
1.0
|
| 319 |
+
]
|
| 320 |
+
],
|
| 321 |
+
"block": "20261014-morning",
|
| 322 |
+
"block_assignment": "trc",
|
| 323 |
+
"tilt_removed_deg": null,
|
| 324 |
+
"plane_status": "contacts span only 0.43 m",
|
| 325 |
+
"floor": {
|
| 326 |
+
"sole_marker_p1_mm": 12.5,
|
| 327 |
+
"headtop_p95_mm": 1657.1
|
| 328 |
+
},
|
| 329 |
+
"gravity_check": {
|
| 330 |
+
"static_samples": 4518,
|
| 331 |
+
"g_world_mean_m_s2": [
|
| 332 |
+
0.2039,
|
| 333 |
+
-0.1828,
|
| 334 |
+
9.7551
|
| 335 |
+
],
|
| 336 |
+
"tilt_from_z_deg": 1.608,
|
| 337 |
+
"tilt_from_z_deg_before_levelling": 1.608,
|
| 338 |
+
"magnitude_m_s2": 9.7589
|
| 339 |
+
},
|
| 340 |
+
"rig_tracker_definition": "e17c9efadb69e7b1/20261014-morning/labels-352410/session-86df094d04269a04",
|
| 341 |
+
"camera_pose_source": "provider T_tracker0_cam",
|
| 342 |
+
"files": [
|
| 343 |
+
"mocap_zup.npz",
|
| 344 |
+
"tracker0_zup.npz",
|
| 345 |
+
"rig_zup.npz",
|
| 346 |
+
"cameras_zup.npz"
|
| 347 |
+
]
|
| 348 |
+
},
|
| 349 |
+
"smplx": {
|
| 350 |
+
"generated_at_utc": "2026-10-22T23:29:46.586795+00:00",
|
| 351 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 352 |
+
"file": "smplx.npz",
|
| 353 |
+
"gender": "female",
|
| 354 |
+
"n_betas": 16,
|
| 355 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 356 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 357 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 358 |
+
"hands": {
|
| 359 |
+
"observed": false,
|
| 360 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 361 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 362 |
+
"hand_marker_offsets_m": {
|
| 363 |
+
"left": {
|
| 364 |
+
"LHandIn": [
|
| 365 |
+
0.06766262650489807,
|
| 366 |
+
-0.004058482591062784,
|
| 367 |
+
0.02905368059873581
|
| 368 |
+
],
|
| 369 |
+
"LHandOut": [
|
| 370 |
+
0.05012667924165726,
|
| 371 |
+
0.0431397445499897,
|
| 372 |
+
-0.003786597168073058
|
| 373 |
+
],
|
| 374 |
+
"LWristOut": [
|
| 375 |
+
-0.01730073243379593,
|
| 376 |
+
0.03320663794875145,
|
| 377 |
+
0.010517256334424019
|
| 378 |
+
]
|
| 379 |
+
},
|
| 380 |
+
"right": {
|
| 381 |
+
"RHandIn": [
|
| 382 |
+
-0.056819379329681396,
|
| 383 |
+
-0.03342795372009277,
|
| 384 |
+
0.013993105851113796
|
| 385 |
+
],
|
| 386 |
+
"RHandOut": [
|
| 387 |
+
-0.04677905887365341,
|
| 388 |
+
0.03335168585181236,
|
| 389 |
+
0.006510189734399319
|
| 390 |
+
]
|
| 391 |
+
}
|
| 392 |
+
}
|
| 393 |
+
},
|
| 394 |
+
"marker_rmse_mm": {
|
| 395 |
+
"median_frame": 4.62,
|
| 396 |
+
"p95_frame": 8.25
|
| 397 |
+
},
|
| 398 |
+
"worst_markers": [
|
| 399 |
+
"LShin 14mm",
|
| 400 |
+
"LKneeIn 12mm",
|
| 401 |
+
"LElbowIn 10mm",
|
| 402 |
+
"RElbowIn 9mm",
|
| 403 |
+
"RKneeIn 9mm"
|
| 404 |
+
],
|
| 405 |
+
"valid_fraction": 1.0,
|
| 406 |
+
"qc": {
|
| 407 |
+
"lowest_vertex_mm": {
|
| 408 |
+
"median": 12.1,
|
| 409 |
+
"p5": -7.3
|
| 410 |
+
},
|
| 411 |
+
"frames_checked": 617,
|
| 412 |
+
"stature_mm": 1593.9
|
| 413 |
+
},
|
| 414 |
+
"surface_term": {
|
| 415 |
+
"weight": 1.0,
|
| 416 |
+
"marker_height_mm": 11.0,
|
| 417 |
+
"markers_on_surface": 52,
|
| 418 |
+
"surface_rmse_mm_median": 12.0
|
| 419 |
+
},
|
| 420 |
+
"shape_source": "participant median",
|
| 421 |
+
"wrist_correction": {
|
| 422 |
+
"left": {
|
| 423 |
+
"status": "corrected",
|
| 424 |
+
"Q_deg": 122.58,
|
| 425 |
+
"Q_rotvec": [
|
| 426 |
+
-2.01506,
|
| 427 |
+
-0.41169,
|
| 428 |
+
0.58942
|
| 429 |
+
],
|
| 430 |
+
"in_out_sign": -1,
|
| 431 |
+
"wrist_bend_deg_median": 133.7,
|
| 432 |
+
"opposite_sign_bend_deg": 57.7,
|
| 433 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 434 |
+
"marker_frame_spread_deg": 3.59,
|
| 435 |
+
"hand_vs_marker_frame_deg": {
|
| 436 |
+
"before": 122.46,
|
| 437 |
+
"after": 3.59
|
| 438 |
+
},
|
| 439 |
+
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