Release update 2026-11-05: new sessions, instructions, annotations (part 7)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox1.csv +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox1.trc +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox2.csv +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox2.trc +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox3.csv +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox3.trc +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox4.csv +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/LittleBox4.trc +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Table2.trc +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM10/session_004/raw/mocap/Tracker0.trc +0 -0
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- actions/static_manipulation/SM10/session_004/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM10/session_004/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM10/session_004/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM10/session_004/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM10/session_004/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM10/session_004/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM10/session_004/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM10/session_004/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM10/session_004/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM10/session_004/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM10/session_004/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM10/session_004/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM10/session_004/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM10/session_004/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM10/session_004/videos/head_right.mp4 +3 -0
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- actions/static_manipulation/SM10/session_004/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM10/session_004/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM10/session_004/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM10/session_004/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM10/session_005/cameras/poses.npz +3 -0
- actions/static_manipulation/SM10/session_005/meta.json +588 -0
- actions/static_manipulation/SM10/session_005/motions/head_rig.npz +3 -0
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- actions/static_manipulation/SM10/session_005/raw/manifest.json +352 -0
- actions/static_manipulation/SM10/session_005/raw/mocap/Body0.bvh +0 -0
.gitattributes
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version https://git-lfs.github.com/spec/v1
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oid sha256:f2292e7cbce6b98e98c1604ef59679faec7cfa0d44720224fe1288fee48f0039
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size 44427606
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actions/static_manipulation/SM10/session_005/cameras/poses.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:b2e131830807ad6e8e6ab3881fbcdf5f6c932a7199f20674c8f0926b7e5cff98
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size 942530
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actions/static_manipulation/SM10/session_005/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261030/SM10/20261030_093650_session3",
|
| 4 |
+
"session_id": "20261030_093650_session3",
|
| 5 |
+
"primitive": "SM10",
|
| 6 |
+
"batch": "20261030",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "75b5984e04d1d236",
|
| 12 |
+
"right": "c84bc808cb6b47af"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:48:12.339418+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": 107.825,
|
| 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": -0.083077,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9586,
|
| 32 |
+
"reference_imu_first_sample_s": 721.098979648,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 9,
|
| 35 |
+
"window_corr_median": 0.9769736689194397,
|
| 36 |
+
"drift_ppm": -655.3694209917094,
|
| 37 |
+
"drift_se_ppm": 370.60532408960245,
|
| 38 |
+
"drift_ms_over_take": -70.65974640658946,
|
| 39 |
+
"lag_scatter_ms": 25.31716339699105,
|
| 40 |
+
"lag_range_ms": 98.07172111786862
|
| 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": 21781,
|
| 76 |
+
"n_gyro": 21775,
|
| 77 |
+
"t_start": -0.09459209649567236,
|
| 78 |
+
"t_end": 108.01082941350425
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 21674,
|
| 82 |
+
"n_gyro": 21666,
|
| 83 |
+
"t_start": 0.02854188850430893,
|
| 84 |
+
"t_end": 108.17039389850429
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 21579,
|
| 88 |
+
"n_gyro": 21579,
|
| 89 |
+
"t_start": -0.8254056914956447,
|
| 90 |
+
"t_end": 106.52700911050435
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 21767,
|
| 94 |
+
"n_gyro": 21767,
|
| 95 |
+
"t_start": -0.856876256495708,
|
| 96 |
+
"t_end": 106.5286451015043
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 10822,
|
| 100 |
+
"t_start": 0.12266526350428995,
|
| 101 |
+
"t_end": 108.33266410650428
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 10734,
|
| 105 |
+
"t_start": -0.80853825649565,
|
| 106 |
+
"t_end": 106.52209529250426
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
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| 109 |
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"generated_at_utc": "2026-11-03T15:13:55.055368+00:00",
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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"task": {
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"primitive": "SM10",
|
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"instruction": "Place the object on the shelf just at the top of your comfortable reach. 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."
|
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},
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"objects": [
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{
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"name": "LittleBox4",
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"pose_frame": "mesh"
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"name": "LittleBox6",
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"pose_frame": "rigid_body"
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actions/static_manipulation/SM10/session_005/motions/markers.npz
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{
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"session": "20261030/SM10/20261030_093650_session3",
|
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"generated_at_utc": "2026-11-04T20:57:37.549214+00:00",
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"generated_by": "scripts/export_objects.py",
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
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"grid": "body grid (smplx.npz t / frame_index)",
|
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"held_by": "from mocap hands",
|
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"instances": [
|
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{
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"name": "LittleBox4",
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"source": "mocap",
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"pose_frame": "mesh",
|
| 14 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
| 16 |
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"instance": "LittleBox4",
|
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"rms_mm": 0.73
|
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},
|
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"valid_pct": 67.7,
|
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|
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|
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"vision_source": null
|
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},
|
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{
|
| 25 |
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"name": "LittleBox5",
|
| 26 |
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"object_type": "LittleBox",
|
| 27 |
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"source": "mocap",
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| 28 |
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"pose_frame": "mesh",
|
| 29 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
| 31 |
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"instance": "LittleBox5",
|
| 32 |
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"rms_mm": 2.07
|
| 33 |
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},
|
| 34 |
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"valid_pct": 96.39,
|
| 35 |
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"verified_pct": 96.37,
|
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|
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"vision_source": null
|
| 38 |
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},
|
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{
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| 40 |
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"name": "LittleBox6",
|
| 41 |
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"object_type": "LittleBox",
|
| 42 |
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"source": "mocap",
|
| 43 |
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"pose_frame": "mesh",
|
| 44 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
| 46 |
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"instance": "LittleBox6",
|
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"rms_mm": 1.13
|
| 48 |
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},
|
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|
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"verified_pct": 85.88,
|
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|
| 52 |
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"vision_source": null
|
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},
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{
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"name": "Table",
|
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"object_type": "Table",
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"source": "mocap",
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"pose_frame": "rigid_body",
|
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"mesh": null,
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"calibration": null,
|
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|
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"verified_pct": 99.98,
|
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|
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"vision_source": null
|
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}
|
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],
|
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"absent": [],
|
| 68 |
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"object_list": {
|
| 69 |
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"status": "corrected",
|
| 70 |
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"notes": [],
|
| 71 |
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"declared": [
|
| 72 |
+
"LittleBox4",
|
| 73 |
+
"LittleBox5",
|
| 74 |
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"LittleBox6",
|
| 75 |
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"Table0"
|
| 76 |
+
],
|
| 77 |
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"listed": [
|
| 78 |
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{
|
| 79 |
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"name": "LittleBox4",
|
| 80 |
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"object": "LittleBox",
|
| 81 |
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"source": "mocap",
|
| 82 |
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"needs_video_check": false
|
| 83 |
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},
|
| 84 |
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{
|
| 85 |
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"name": "LittleBox5",
|
| 86 |
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"object": "LittleBox",
|
| 87 |
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"source": "mocap",
|
| 88 |
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"needs_video_check": false
|
| 89 |
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},
|
| 90 |
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{
|
| 91 |
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"name": "LittleBox6",
|
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"object": "LittleBox",
|
| 93 |
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"source": "mocap",
|
| 94 |
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"needs_video_check": false
|
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{
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"name": "Table",
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"source": "mocap",
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"needs_video_check": false
|
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}
|
| 102 |
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]
|
| 103 |
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},
|
| 104 |
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"notes": []
|
| 105 |
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}
|
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ADDED
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| 1 |
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|
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|
actions/static_manipulation/SM10/session_005/raw/mocap/Body0.bvh
ADDED
|
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|
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