Release update 2026-11-05: new sessions, instructions, annotations (part 326)
Browse files- .gitattributes +4 -0
- actions/locomanipulation/LM33/session_034/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM33/session_034/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM33/session_034/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM33/session_035/cameras/poses.npz +3 -0
- actions/locomanipulation/LM33/session_035/meta.json +519 -0
- actions/locomanipulation/LM33/session_035/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM33/session_035/motions/markers.npz +3 -0
- actions/locomanipulation/LM33/session_035/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM33/session_035/motions/smplx.npz +3 -0
- actions/locomanipulation/LM33/session_035/raw/audio.wav +3 -0
- actions/locomanipulation/LM33/session_035/raw/manifest.json +286 -0
- actions/locomanipulation/LM33/session_035/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM33/session_035/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM33/session_035/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM33/session_035/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM33/session_035/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM33/session_035/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM33/session_035/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM33/session_035/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM33/session_035/raw/sensors/robocap_imu_right.db +3 -0
.gitattributes
CHANGED
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@@ -45145,3 +45145,7 @@ actions/locomanipulation/LM33/session_034/raw/sensors/robowrist_imu_left.db filt
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actions/locomanipulation/LM33/session_034/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_034/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_034/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_034/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_034/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_034/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_035/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_035/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_035/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_035/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM33/session_034/videos/third_person.mp4
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actions/locomanipulation/LM33/session_034/videos/wrist_left.mp4
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actions/locomanipulation/LM33/session_034/videos/wrist_right.mp4
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actions/locomanipulation/LM33/session_035/cameras/poses.npz
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actions/locomanipulation/LM33/session_035/meta.json
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@@ -0,0 +1,519 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LM33/20261028_103830_session119",
|
| 4 |
+
"session_id": "20261028_103830_session119",
|
| 5 |
+
"primitive": "LM33",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e3296774a321bb51",
|
| 11 |
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"left": "39042f5fb5da3b12",
|
| 12 |
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"right": "65a3481473d6e2a0"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:23:57.144376+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": 132.95833333333334,
|
| 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 (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": -0.083265,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9693,
|
| 32 |
+
"reference_imu_first_sample_s": 35607.473767796,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9957627823511196,
|
| 36 |
+
"drift_ppm": -387.22756250742185,
|
| 37 |
+
"drift_se_ppm": 228.65198549956557,
|
| 38 |
+
"drift_ms_over_take": -51.48190443536173,
|
| 39 |
+
"lag_scatter_ms": 24.960447808522616,
|
| 40 |
+
"lag_range_ms": 103.27811425438856
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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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 |
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"calibration": {
|
| 68 |
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"device": "e3296774a321bb51",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 26844,
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| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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| 82 |
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|
| 83 |
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"t_start": 0.028367240923014,
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| 84 |
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| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 26860,
|
| 88 |
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|
| 89 |
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"t_start": -0.8020107740787561,
|
| 90 |
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| 91 |
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},
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| 92 |
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|
| 93 |
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"n_acc": 26748,
|
| 94 |
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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": 13338,
|
| 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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"n": 13239,
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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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| 109 |
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"n": 13254,
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| 110 |
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| 111 |
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| 112 |
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}
|
| 113 |
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},
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| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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| 117 |
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| 119 |
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| 120 |
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"timing": "pts",
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| 121 |
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| 122 |
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"file": "robocap_segment1_video_left.mp4",
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| 123 |
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| 124 |
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| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
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| 128 |
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|
| 129 |
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"fps": 30.0,
|
| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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"file": "robocap_segment1_video_right.mp4",
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| 136 |
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| 137 |
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| 139 |
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| 140 |
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},
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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"file": "robocap_segment1_video_left_front.mp4",
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| 149 |
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| 153 |
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},
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| 155 |
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| 156 |
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| 160 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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| 166 |
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| 168 |
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| 179 |
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},
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| 183 |
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| 185 |
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| 186 |
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| 187 |
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"file": "robocap_segment1_video_right_eye.mp4",
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| 188 |
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| 189 |
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| 190 |
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| 192 |
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},
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| 194 |
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| 196 |
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| 198 |
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"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
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| 205 |
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},
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| 211 |
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| 213 |
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"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
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| 214 |
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| 218 |
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},
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| 219 |
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"third_person": {
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| 220 |
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"file": "mocap/mocap-LM33-S03-xiaobo-01p2-1.mp4",
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| 221 |
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| 222 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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}
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| 227 |
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}
|
| 228 |
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},
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| 229 |
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"flags": [],
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| 230 |
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"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
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"rig_tracker": {
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| 232 |
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"definition": "e3296774a321bb51/20261028-afternoon/labels-235140/session-35d55e1ec9339c8e",
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| 233 |
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| 234 |
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| 247 |
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]
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],
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],
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| 256 |
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| 257 |
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|
| 258 |
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"status": "video_solve",
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| 259 |
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| 260 |
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| 261 |
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| 262 |
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"status": "ok",
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| 263 |
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"reason": "",
|
| 264 |
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|
| 265 |
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|
| 266 |
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"gyro_deg": 2.006
|
| 267 |
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}
|
| 268 |
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},
|
| 269 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 270 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 271 |
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},
|
| 272 |
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"canonical": {
|
| 273 |
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"generated_at_utc": "2026-10-30T18:46:08.591481+00:00",
|
| 274 |
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"generated_by": "scripts/canonicalise_dataset.py",
|
| 275 |
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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)",
|
| 276 |
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"R_canon_nokov": [
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| 277 |
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[
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| 278 |
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0.0054876377,
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2.47109e-05
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]
|
| 292 |
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],
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|
| 294 |
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| 295 |
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[
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| 296 |
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0.000999984942,
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| 297 |
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|
| 298 |
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2.4711e-08,
|
| 299 |
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0.0
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],
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| 301 |
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[
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-2.4711e-08,
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| 303 |
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| 304 |
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0.0
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],
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[
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-5.487638e-06,
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| 309 |
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0.000999944389,
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| 310 |
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9.005776e-06,
|
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0.0
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],
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0.0,
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0.0,
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| 316 |
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0.0,
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| 317 |
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1.0
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| 318 |
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]
|
| 319 |
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],
|
| 320 |
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"block": "20261028-afternoon",
|
| 321 |
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"block_assignment": "trc",
|
| 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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0.1101,
|
| 332 |
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-0.0163,
|
| 333 |
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9.741
|
| 334 |
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],
|
| 335 |
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"tilt_from_z_deg": 0.655,
|
| 336 |
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|
| 337 |
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|
| 338 |
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},
|
| 339 |
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| 340 |
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|
| 341 |
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"status": "video_solve",
|
| 342 |
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|
| 343 |
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|
| 344 |
+
},
|
| 345 |
+
"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 346 |
+
"files": [
|
| 347 |
+
"mocap_zup.npz",
|
| 348 |
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"tracker0_zup.npz",
|
| 349 |
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"rig_zup.npz",
|
| 350 |
+
"cameras_zup.npz"
|
| 351 |
+
]
|
| 352 |
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},
|
| 353 |
+
"smplx": {
|
| 354 |
+
"generated_at_utc": "2026-11-02T15:47:24.821292+00:00",
|
| 355 |
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"generated_by": "scripts/fit_smplx_dataset.py",
|
| 356 |
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"file": "smplx.npz",
|
| 357 |
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"gender": "male",
|
| 358 |
+
"n_betas": 16,
|
| 359 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 360 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 361 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 362 |
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"hands": {
|
| 363 |
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"observed": false,
|
| 364 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 365 |
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 366 |
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|
| 367 |
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"left": {
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"LHandIn": [
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0.021977048367261887,
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| 376 |
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],
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|
| 381 |
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]
|
| 383 |
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},
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]
|
| 395 |
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}
|
| 396 |
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}
|
| 397 |
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},
|
| 398 |
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"marker_rmse_mm": {
|
| 399 |
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"median_frame": 4.73,
|
| 400 |
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"p95_frame": 7.46
|
| 401 |
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},
|
| 402 |
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"worst_markers": [
|
| 403 |
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"RElbowIn 14mm",
|
| 404 |
+
"RElbow 13mm",
|
| 405 |
+
"LThigh 8mm",
|
| 406 |
+
"RUArmHigh 8mm",
|
| 407 |
+
"LShin 7mm"
|
| 408 |
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],
|
| 409 |
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|
| 410 |
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|
| 411 |
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|
| 412 |
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"median": 1.6,
|
| 413 |
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"p5": -4.9
|
| 414 |
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},
|
| 415 |
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"frames_checked": 532,
|
| 416 |
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|
| 417 |
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},
|
| 418 |
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|
| 419 |
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"weight": 1.0,
|
| 420 |
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|
| 421 |
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|
| 422 |
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|
| 423 |
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},
|
| 424 |
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"shape_source": "participant median",
|
| 425 |
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"wrist_correction": {
|
| 426 |
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"left": {
|
| 427 |
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"status": "corrected",
|
| 428 |
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|
| 429 |
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|
| 430 |
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1.50645,
|
| 431 |
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0.35917,
|
| 432 |
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0.25262
|
| 433 |
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],
|
| 434 |
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"in_out_sign": 1,
|
| 435 |
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|
| 436 |
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"opposite_sign_bend_deg": 140.7,
|
| 437 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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},
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"generated_at_utc": "2026-11-02T15:47:28.013424+00:00",
|
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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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"release": {
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"release_path": "actions/locomanipulation/LM33/session_035",
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"family": "locomanipulation",
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"source_session": "20261028/LM33/20261028_103830_session119"
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| 514 |
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},
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| 515 |
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"task": {
|
| 516 |
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"primitive": "LM33",
|
| 517 |
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"instruction": "Carry the open container and, while walking, reach in with one hand and take an item out, then put it back. Repeat as you walk. Do not stop."
|
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}
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|
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|
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