Release update 2026-11-05: new sessions, instructions, annotations (part 18)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +44 -0
- actions/static_manipulation/SM16/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM16/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM16/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM16/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM16/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM16/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM16/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM16/session_006/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM16/session_006/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM16/session_006/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM16/session_006/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM16/session_006/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM16/session_006/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM16/session_006/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM16/session_007/cameras/poses.npz +3 -0
- actions/static_manipulation/SM16/session_007/meta.json +534 -0
- actions/static_manipulation/SM16/session_007/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM16/session_007/motions/markers.npz +3 -0
- actions/static_manipulation/SM16/session_007/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM16/session_007/motions/objects.json +39 -0
- actions/static_manipulation/SM16/session_007/motions/objects.npz +3 -0
- actions/static_manipulation/SM16/session_007/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM16/session_007/motions/smplx.npz +3 -0
- actions/static_manipulation/SM16/session_007/raw/audio.wav +3 -0
- actions/static_manipulation/SM16/session_007/raw/manifest.json +286 -0
- actions/static_manipulation/SM16/session_007/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM16/session_007/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM16/session_007/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM16/session_007/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM16/session_007/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM16/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM16/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM16/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM16/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM16/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM16/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM16/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM16/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM16/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM16/session_007/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM16/session_007/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM16/session_007/sensors/wrist_imu.npz +3 -0
.gitattributes
CHANGED
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@@ -50176,3 +50176,47 @@ actions/static_manipulation/SM15/session_012/raw/sensors/robowrist_mag_right.db
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actions/static_manipulation/SM16/session_006/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_007/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_007/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 50189 |
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| 50191 |
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actions/static_manipulation/SM16/session_007/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 50192 |
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| 50195 |
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| 50200 |
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| 50211 |
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actions/static_manipulation/SM16/session_009/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM16/session_006/raw/sensors/robocap_imu_left.db
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|
| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261028/SM16/20261028_024729_session20",
|
| 4 |
+
"session_id": "20261028_024729_session20",
|
| 5 |
+
"primitive": "SM16",
|
| 6 |
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"batch": "20261028",
|
| 7 |
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"participant": "wangmengli",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-30T07:32:54.866237+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": 131.95833333333334,
|
| 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": -0.087103,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.6946,
|
| 32 |
+
"reference_imu_first_sample_s": 3850.602802925,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 7,
|
| 35 |
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"window_corr_median": 0.5812849084453605,
|
| 36 |
+
"drift_ppm": -584.3482932651083,
|
| 37 |
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"drift_se_ppm": 372.56864651994476,
|
| 38 |
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"drift_ms_over_take": -77.10475729633104,
|
| 39 |
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"lag_scatter_ms": 31.307350360746916,
|
| 40 |
+
"lag_range_ms": 113.09673713219959
|
| 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 |
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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 |
+
]
|
| 61 |
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],
|
| 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": 26847,
|
| 76 |
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"n_gyro": 26842,
|
| 77 |
+
"t_start": -0.0939992693854185,
|
| 78 |
+
"t_end": 132.15080044961476
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26683,
|
| 82 |
+
"n_gyro": 26676,
|
| 83 |
+
"t_start": 0.012364272614635213,
|
| 84 |
+
"t_end": 132.31841397661472
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26570,
|
| 88 |
+
"n_gyro": 26568,
|
| 89 |
+
"t_start": -0.9116895043855185,
|
| 90 |
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"t_end": 130.4024151996148
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26560,
|
| 94 |
+
"n_gyro": 26574,
|
| 95 |
+
"t_start": -0.7859598833853999,
|
| 96 |
+
"t_end": 130.39345308761474
|
| 97 |
+
},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 13239,
|
| 100 |
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"t_start": 0.09980193961453895,
|
| 101 |
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"t_end": 132.47979350261474
|
| 102 |
+
},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 13130,
|
| 105 |
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"t_start": -0.8941339923851194,
|
| 106 |
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"t_end": 130.39503854961484
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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actions/static_manipulation/SM16/session_007/sensors/head_mag.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:d3c17277ece4414d95cfa56a34b9edb49b7f8d913d228623c624a1206002c51f
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| 3 |
+
size 160757
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actions/static_manipulation/SM16/session_007/sensors/wrist_imu.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:57825765275587f95928614cba34ad51ac75da2e5457a69f2ce409279a30158c
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| 3 |
+
size 1345283
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