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- .gitattributes +13 -0
- actions/human_human_locomanipulation/HH15/session_001/raw/audio.wav +3 -0
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- actions/human_human_locomanipulation/HH15/session_001/scene/views.npz +3 -0
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- actions/human_human_locomanipulation/HH15/session_001/videos/head_right.mp4 +3 -0
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- actions/human_human_locomanipulation/HH15/session_002/raw/manifest.json +381 -0
.gitattributes
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actions/human_human_locomanipulation/HH14/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH14/session_005/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH14/session_005/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH14/session_005/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/mocap/Body1.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_002/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_002/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_002/raw/mocap/Body1.trc filter=lfs diff=lfs merge=lfs -text
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actions/human_human_locomanipulation/HH15/session_001/raw/audio.wav
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actions/human_human_locomanipulation/HH15/session_001/raw/manifest.json
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| 1 |
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"created_at_utc": "2026-10-22T13:04:48.396107+00:00",
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| 4 |
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"primitive_id": "HH15",
|
| 5 |
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"session_id": "20261020_074730_session17",
|
| 6 |
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"upload_batch_id": "20261020",
|
| 7 |
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"dataset_path": "EgoMotionActions/20261020/HH15/20261020_074730_session17",
|
| 8 |
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"segment": "auto/all",
|
| 9 |
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"duration_s": 130.866633,
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"device_ids": {
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"main": "c9205ac6e17d2d5c",
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"left": null,
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"right": "a85418f7d807dff9"
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},
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| 15 |
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"mocap_rigid_names": [
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| 16 |
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"Body0",
|
| 17 |
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"Body1",
|
| 18 |
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"CcGreen",
|
| 19 |
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"CcYellow",
|
| 20 |
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"LittleBox4",
|
| 21 |
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"LittleBox6",
|
| 22 |
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"Tracker0"
|
| 23 |
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],
|
| 24 |
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"objects": [
|
| 25 |
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"CcGreen0",
|
| 26 |
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"CcYellow0",
|
| 27 |
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"LittleBox4",
|
| 28 |
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"LittleBox6"
|
| 29 |
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],
|
| 30 |
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"options": {
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| 31 |
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"raw_video": true,
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| 32 |
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"proxy_height": 540,
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"proxy_crf": 28,
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"proxy_bitrate": "1400k",
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| 35 |
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"mocap_selection": "explicit",
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| 36 |
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"mocap_files": [
|
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-1.mp4",
|
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-Body0.bvh",
|
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-Body0.csv",
|
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-Body0.trc",
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-Body1.bvh",
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-Body1.csv",
|
| 43 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-Body1.trc",
|
| 44 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-CcGreen.csv",
|
| 45 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-CcGreen.trc",
|
| 46 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-CcYellow.csv",
|
| 47 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-CcYellow.trc",
|
| 48 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-LittleBox4.csv",
|
| 49 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-LittleBox4.trc",
|
| 50 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-LittleBox6.csv",
|
| 51 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-LittleBox6.trc",
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| 52 |
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"mocap-HH15-S01-lvaoshan-02p1/mocap-HH15-S01-lvaoshan-02p1-Tracker0.csv",
|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261020/HH15/20261020_085728_session38",
|
| 4 |
+
"session_id": "20261020_085728_session38",
|
| 5 |
+
"primitive": "HH15",
|
| 6 |
+
"batch": "20261020",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-22T16:13:36.125479+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": 14,
|
| 21 |
+
"duration_s": 120.90833333333333,
|
| 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": -0.087764,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9905,
|
| 32 |
+
"reference_imu_first_sample_s": 2526.074622054,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9914888917453945,
|
| 36 |
+
"drift_ppm": -6.921283365220866,
|
| 37 |
+
"drift_se_ppm": 5.519342928410455,
|
| 38 |
+
"drift_ms_over_take": -0.8375906419144785,
|
| 39 |
+
"lag_scatter_ms": 0.5236108452396212,
|
| 40 |
+
"lag_range_ms": 1.7155313239926306
|
| 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": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 24630,
|
| 76 |
+
"n_gyro": 24624,
|
| 77 |
+
"t_start": -0.21586073309649273,
|
| 78 |
+
"t_end": 121.10300094590335
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24477,
|
| 82 |
+
"n_gyro": 24471,
|
| 83 |
+
"t_start": -0.09826405709677184,
|
| 84 |
+
"t_end": 121.26569714990333
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24418,
|
| 88 |
+
"n_gyro": 24417,
|
| 89 |
+
"t_start": -0.9837426310967616,
|
| 90 |
+
"t_end": 119.68989649890332
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24443,
|
| 94 |
+
"n_gyro": 24442,
|
| 95 |
+
"t_start": -1.0241309820965812,
|
| 96 |
+
"t_end": 119.69006947090352
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12145,
|
| 100 |
+
"t_start": -0.011629057096657028,
|
| 101 |
+
"t_end": 121.42839279290334
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12066,
|
| 105 |
+
"t_start": -0.9646961340966713,
|
| 106 |
+
"t_end": 119.68549863190324
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12070,
|
| 110 |
+
"t_start": -1.0068405820964885,
|
| 111 |
+
"t_end": 119.68333098890312
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 2526.199311,
|
| 118 |
+
"frames": 3630,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": -0.07711319944960034,
|
| 124 |
+
"t_end": 120.8895198005504,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 2526.199255,
|
| 131 |
+
"frames": 3630,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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| 518 |
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| 519 |
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}
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},
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|
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|
| 530 |
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|
| 531 |
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|
| 532 |
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| 534 |
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| 535 |
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|
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|
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|
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|
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|
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"LShin 18mm",
|
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"RKneeIn 11mm",
|
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"LKneeIn 10mm"
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|
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|
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|
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4.3
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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