Release update 2026-11-05: 5760 sessions, instructions, annotations (part 308)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomanipulation/LM08/session_035/raw/mocap/LittleBox6.trc +0 -0
- actions/locomanipulation/LM08/session_035/raw/mocap/Table.csv +0 -0
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- actions/locomanipulation/LM08/session_035/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM08/session_035/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM08/session_035/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM08/session_035/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM08/session_035/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM08/session_035/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM08/session_035/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM08/session_035/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM08/session_035/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM08/session_035/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM08/session_035/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM08/session_035/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM08/session_035/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM08/session_035/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM08/session_035/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM08/session_036/cameras/poses.npz +3 -0
- actions/locomanipulation/LM08/session_036/meta.json +552 -0
- actions/locomanipulation/LM08/session_036/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM08/session_036/motions/markers.npz +3 -0
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- actions/locomanipulation/LM08/session_036/raw/mocap/Body0.bvh +0 -0
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.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261102/LM08/20261102_062812_session113",
|
| 4 |
+
"session_id": "20261102_062812_session113",
|
| 5 |
+
"primitive": "LM08",
|
| 6 |
+
"batch": "20261102",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T21:40:38.322425+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": 137.95833333333334,
|
| 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": -0.092359,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9174,
|
| 32 |
+
"reference_imu_first_sample_s": 2630.82753449,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9674563714723983,
|
| 36 |
+
"drift_ppm": -399.148937202272,
|
| 37 |
+
"drift_se_ppm": 222.62444273229454,
|
| 38 |
+
"drift_ms_over_take": -55.06259588705342,
|
| 39 |
+
"lag_scatter_ms": 24.302460228281845,
|
| 40 |
+
"lag_range_ms": 103.11352070227272
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27731,
|
| 76 |
+
"n_gyro": 27725,
|
| 77 |
+
"t_start": -0.09933969609687382,
|
| 78 |
+
"t_end": 138.15059654790298
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27680,
|
| 82 |
+
"n_gyro": 27675,
|
| 83 |
+
"t_start": 0.007041246903330023,
|
| 84 |
+
"t_end": 138.31204154890315
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 27992,
|
| 88 |
+
"n_gyro": 27992,
|
| 89 |
+
"t_start": -0.8936547620967275,
|
| 90 |
+
"t_end": 137.4437541359032
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27997,
|
| 94 |
+
"n_gyro": 27997,
|
| 95 |
+
"t_start": -0.8286710980967171,
|
| 96 |
+
"t_end": 137.44293413690298
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13840,
|
| 100 |
+
"t_start": 0.0882054699034171,
|
| 101 |
+
"t_end": 138.47820241090335
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13833,
|
| 105 |
+
"t_start": -0.8809758070967717,
|
| 106 |
+
"t_end": 137.43885272890316
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13826,
|
| 110 |
+
"t_start": -0.8107398400968548,
|
| 111 |
+
"t_end": 137.43809779190337
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2630.957926,
|
| 118 |
+
"frames": 4138,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040374522701998206,
|
| 124 |
+
"t_end": 137.94038552270217,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2630.957887,
|
| 131 |
+
"frames": 4138,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039942098548866045,
|
| 137 |
+
"t_end": 137.93994209854895,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 2630.957913,
|
| 144 |
+
"frames": 4138,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03983625714204492,
|
| 150 |
+
"t_end": 137.93983625714213,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 2630.95794,
|
| 157 |
+
"frames": 4138,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03977569855055946,
|
| 163 |
+
"t_end": 137.93978669855073,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
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|
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|
| 230 |
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|
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|
| 262 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
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},
|
| 265 |
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|
| 266 |
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| 268 |
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|
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|
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|
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|
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| 337 |
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},
|
| 338 |
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"camera_pose_source": "provider T_tracker0_cam",
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| 339 |
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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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},
|
| 346 |
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|
| 347 |
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"generated_at_utc": "2026-11-04T04:43:59.837513+00:00",
|
| 348 |
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| 349 |
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"file": "smplx.npz",
|
| 350 |
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"gender": "male",
|
| 351 |
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|
| 352 |
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"betas_source": "participant median (derived/smplx/participants.json)",
|
| 353 |
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|
| 354 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
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|
| 356 |
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"observed": false,
|
| 357 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 358 |
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|
| 359 |
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|
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}
|
| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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},
|
| 405 |
+
"worst_markers": [
|
| 406 |
+
"RElbowIn 18mm",
|
| 407 |
+
"WaistRBack 14mm",
|
| 408 |
+
"STRN 13mm",
|
| 409 |
+
"LElbow 12mm",
|
| 410 |
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"WaistRFront 12mm"
|
| 411 |
+
],
|
| 412 |
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"valid_fraction": 0.9996,
|
| 413 |
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"qc": {
|
| 414 |
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"lowest_vertex_mm": {
|
| 415 |
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"median": 3.3,
|
| 416 |
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"p5": 0.2
|
| 417 |
+
},
|
| 418 |
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|
| 419 |
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|
| 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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|
| 425 |
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|
| 426 |
+
},
|
| 427 |
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"shape_source": "participant median",
|
| 428 |
+
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|
| 429 |
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|
| 430 |
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"status": "corrected",
|
| 431 |
+
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|
| 432 |
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|
| 433 |
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1.82838,
|
| 434 |
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|
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|
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],
|
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|
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|
| 439 |
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|
| 440 |
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|
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|
| 442 |
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|
| 443 |
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|
| 444 |
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|
| 445 |
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|
| 446 |
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|
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},
|
| 448 |
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|
| 449 |
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"LWristIn",
|
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"LWristOut",
|
| 451 |
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"LHandIn",
|
| 452 |
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"LHandOut"
|
| 453 |
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],
|
| 454 |
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|
| 455 |
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|
| 456 |
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|
| 457 |
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|
| 458 |
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|
| 459 |
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-10.6,
|
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5.7
|
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+
]
|
| 462 |
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},
|
| 463 |
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|
| 464 |
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|
| 465 |
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"LElbowIn",
|
| 466 |
+
"LForearm"
|
| 467 |
+
]
|
| 468 |
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},
|
| 469 |
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|
| 470 |
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},
|
| 471 |
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"right": {
|
| 472 |
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|
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|
| 474 |
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|
| 475 |
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1.02458,
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|
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-0.15943
|
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],
|
| 479 |
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|
| 480 |
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| 481 |
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|
| 482 |
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|
| 483 |
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|
| 484 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 485 |
+
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|
| 486 |
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|
| 487 |
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|
| 488 |
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|
| 489 |
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},
|
| 490 |
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"markers_on_wrist": [
|
| 491 |
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"RWristOut",
|
| 492 |
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"RHandIn",
|
| 493 |
+
"RHandOut"
|
| 494 |
+
],
|
| 495 |
+
"forearm_twist": {
|
| 496 |
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|
| 497 |
+
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|
| 498 |
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|
| 499 |
+
"iqr": [
|
| 500 |
+
-2.2,
|
| 501 |
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3.0
|
| 502 |
+
]
|
| 503 |
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},
|
| 504 |
+
"wrist_total_deg_median_after": 29.1,
|
| 505 |
+
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|
| 506 |
+
"RForearm",
|
| 507 |
+
"RWristIn"
|
| 508 |
+
]
|
| 509 |
+
},
|
| 510 |
+
"frames_used": 1500
|
| 511 |
+
},
|
| 512 |
+
"generated_at_utc": "2026-11-04T04:44:02.776883+00:00",
|
| 513 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 514 |
+
}
|
| 515 |
+
},
|
| 516 |
+
"release": {
|
| 517 |
+
"release_path": "actions/locomanipulation/LM08/session_036",
|
| 518 |
+
"family": "locomanipulation",
|
| 519 |
+
"primitive": "LM08",
|
| 520 |
+
"source_session": "20261102/LM08/20261102_062812_session113"
|
| 521 |
+
},
|
| 522 |
+
"task": {
|
| 523 |
+
"primitive": "LM08",
|
| 524 |
+
"instruction": "Take an object from the lowest shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 525 |
+
},
|
| 526 |
+
"objects": [
|
| 527 |
+
{
|
| 528 |
+
"name": "LittleBox4",
|
| 529 |
+
"object_type": "LittleBox",
|
| 530 |
+
"source": "mocap",
|
| 531 |
+
"pose_frame": "mesh"
|
| 532 |
+
},
|
| 533 |
+
{
|
| 534 |
+
"name": "LittleBox5",
|
| 535 |
+
"object_type": "LittleBox",
|
| 536 |
+
"source": "mocap",
|
| 537 |
+
"pose_frame": "mesh"
|
| 538 |
+
},
|
| 539 |
+
{
|
| 540 |
+
"name": "LittleBox6",
|
| 541 |
+
"object_type": "LittleBox",
|
| 542 |
+
"source": "mocap",
|
| 543 |
+
"pose_frame": "mesh"
|
| 544 |
+
},
|
| 545 |
+
{
|
| 546 |
+
"name": "Table",
|
| 547 |
+
"object_type": "Table",
|
| 548 |
+
"source": "mocap",
|
| 549 |
+
"pose_frame": "rigid_body"
|
| 550 |
+
}
|
| 551 |
+
]
|
| 552 |
+
}
|
actions/locomanipulation/LM08/session_036/motions/head_rig.npz
ADDED
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{
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|
| 18 |
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|
| 19 |
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"LittleBox6",
|
| 20 |
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|
| 21 |
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|
| 22 |
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| 23 |
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"objects": [
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| 24 |
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| 25 |
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|
| 26 |
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