Release update 2026-11-05: new sessions, instructions, annotations (part 13)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +27 -0
- actions/static_manipulation/SM13/session_004/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM13/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM13/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM13/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM13/session_004/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM13/session_004/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM13/session_004/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM13/session_004/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM13/session_004/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM13/session_004/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM13/session_004/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM13/session_004/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM13/session_004/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM13/session_004/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM13/session_005/cameras/poses.npz +3 -0
- actions/static_manipulation/SM13/session_005/meta.json +545 -0
- actions/static_manipulation/SM13/session_005/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM13/session_005/motions/markers.npz +3 -0
- actions/static_manipulation/SM13/session_005/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM13/session_005/motions/objects.json +80 -0
- actions/static_manipulation/SM13/session_005/motions/objects.npz +3 -0
- actions/static_manipulation/SM13/session_005/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM13/session_005/motions/smplx.npz +3 -0
- actions/static_manipulation/SM13/session_005/raw/audio.wav +3 -0
- actions/static_manipulation/SM13/session_005/raw/manifest.json +330 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/LittleBox1.csv +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/LittleBox1.trc +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/LittleBox3.csv +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/LittleBox3.trc +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM13/session_005/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM13/session_005/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM13/session_005/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM13/session_005/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM13/session_005/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM13/session_005/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM13/session_005/raw/sensors/robowrist_mag_left.db +3 -0
.gitattributes
CHANGED
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/SM13/20261031_082911_session50",
|
| 4 |
+
"session_id": "20261031_082911_session50",
|
| 5 |
+
"primitive": "SM13",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:54:31.682260+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": 128.225,
|
| 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": -0.090678,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9983,
|
| 32 |
+
"reference_imu_first_sample_s": 11199.55549804,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9989266000793052,
|
| 36 |
+
"drift_ppm": 1.2778372421325292,
|
| 37 |
+
"drift_se_ppm": 2.222227749936584,
|
| 38 |
+
"drift_ms_over_take": 0.1638400317287591,
|
| 39 |
+
"lag_scatter_ms": 0.2108190350829211,
|
| 40 |
+
"lag_range_ms": 0.835995765629094
|
| 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": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25895,
|
| 76 |
+
"n_gyro": 25890,
|
| 77 |
+
"t_start": -0.0976246612599791,
|
| 78 |
+
"t_end": 128.42955014773995
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25771,
|
| 82 |
+
"n_gyro": 25764,
|
| 83 |
+
"t_start": 0.011477921739205865,
|
| 84 |
+
"t_end": 128.59763872874007
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25861,
|
| 88 |
+
"n_gyro": 25861,
|
| 89 |
+
"t_start": -0.7040281392610634,
|
| 90 |
+
"t_end": 126.76906440874059
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25728,
|
| 94 |
+
"n_gyro": 25740,
|
| 95 |
+
"t_start": -0.7211804992594264,
|
| 96 |
+
"t_end": 126.77245389373907
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12867,
|
| 100 |
+
"t_start": 0.10083554673925371,
|
| 101 |
+
"t_end": 128.76088606673963
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12746,
|
| 105 |
+
"t_start": -0.6859419562597762,
|
| 106 |
+
"t_end": 126.76411205874042
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12748,
|
| 110 |
+
"t_start": -0.7044636522596559,
|
| 111 |
+
"t_end": 126.76601972674048
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 11199.683626,
|
| 118 |
+
"frames": 3846,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040004817182270724,
|
| 124 |
+
"t_end": 128.2067378171823,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 11199.683569,
|
| 131 |
+
"frames": 3846,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03976005181808412,
|
| 137 |
+
"t_end": 128.20651605181862,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 11199.683609,
|
| 144 |
+
"frames": 3846,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.040106036948563795,
|
| 150 |
+
"t_end": 128.2068390369486,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
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},
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"rig_zup.npz",
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"cameras_zup.npz"
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]
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},
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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},
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|
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"RElbowIn 12mm",
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| 411 |
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"LElbowIn 10mm",
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| 412 |
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"LElbow 6mm",
|
| 413 |
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"RElbow 6mm",
|
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"LWristIn 6mm"
|
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],
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| 421 |
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},
|
| 422 |
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},
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},
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"shape_source": "participant median",
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"status": "corrected",
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],
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|
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6.2
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]
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},
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|
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]
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},
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},
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],
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|
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|
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 484 |
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|
| 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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-2.4,
|
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5.5
|
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]
|
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},
|
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|
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|
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"RWristIn",
|
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"RWristOut"
|
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]
|
| 508 |
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},
|
| 509 |
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"frames_used": 1500
|
| 510 |
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},
|
| 511 |
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"generated_at_utc": "2026-11-03T13:16:53.515499+00:00",
|
| 512 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 513 |
+
}
|
| 514 |
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},
|
| 515 |
+
"release": {
|
| 516 |
+
"release_path": "actions/static_manipulation/SM13/session_005",
|
| 517 |
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"family": "static_manipulation",
|
| 518 |
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"primitive": "SM13",
|
| 519 |
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"source_session": "20261031/SM13/20261031_082911_session50"
|
| 520 |
+
},
|
| 521 |
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"task": {
|
| 522 |
+
"primitive": "SM13",
|
| 523 |
+
"instruction": "Hold two objects, then put just one of them on the shelf while still holding the other. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 524 |
+
},
|
| 525 |
+
"objects": [
|
| 526 |
+
{
|
| 527 |
+
"name": "LittleBox1",
|
| 528 |
+
"object_type": "LittleBox",
|
| 529 |
+
"source": "mocap",
|
| 530 |
+
"pose_frame": "rigid_body"
|
| 531 |
+
},
|
| 532 |
+
{
|
| 533 |
+
"name": "LittleBox3",
|
| 534 |
+
"object_type": "LittleBox",
|
| 535 |
+
"source": "mocap",
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{
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