Release update 2026-11-05: new sessions, instructions, annotations (part 44)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +34 -0
- actions/static_manipulation/SM39/session_006/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM39/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM39/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM39/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM39/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM39/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM39/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM39/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM39/session_006/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM39/session_006/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM39/session_006/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM39/session_006/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM39/session_006/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM39/session_006/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM39/session_006/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM39/session_007/cameras/poses.npz +3 -0
- actions/static_manipulation/SM39/session_007/meta.json +521 -0
- actions/static_manipulation/SM39/session_007/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM39/session_007/motions/markers.npz +3 -0
- actions/static_manipulation/SM39/session_007/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM39/session_007/motions/objects.json +52 -0
- actions/static_manipulation/SM39/session_007/motions/objects.npz +3 -0
- actions/static_manipulation/SM39/session_007/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM39/session_007/motions/smplx.npz +3 -0
- actions/static_manipulation/SM39/session_007/raw/audio.wav +3 -0
- actions/static_manipulation/SM39/session_007/raw/manifest.json +308 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Table2.trc +0 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM39/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM39/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM39/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM39/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM39/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM39/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM39/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM39/session_007/raw/sensors/robowrist_mag_right.db +3 -0
.gitattributes
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@@ -50972,3 +50972,37 @@ actions/static_manipulation/SM38/session_012/raw/sensors/robowrist_mag_left.db f
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actions/static_manipulation/SM38/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM39/session_006/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM38/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM40/session_007/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM39/session_006/raw/mocap/Tracker0.trc
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actions/static_manipulation/SM39/session_006/raw/sensors/robocap_imu_left.db
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size 42678280
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actions/static_manipulation/SM39/session_007/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:0d767632bae4bb2036bc400f8ef9c15847abd976268ed6bf7cd337a5a91d99ac
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size 1191682
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actions/static_manipulation/SM39/session_007/meta.json
ADDED
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@@ -0,0 +1,521 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/SM39/20261031_112554_session145",
|
| 4 |
+
"session_id": "20261031_112554_session145",
|
| 5 |
+
"primitive": "SM39",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "a85418f7d807dff9"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-11-03T05:54:46.749267+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": -0.083782,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.8096,
|
| 32 |
+
"reference_imu_first_sample_s": 37748.594453227,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.8029208377441264,
|
| 36 |
+
"drift_ppm": -60.27012934845645,
|
| 37 |
+
"drift_se_ppm": 32.866512175637276,
|
| 38 |
+
"drift_ms_over_take": -8.314264343619566,
|
| 39 |
+
"lag_scatter_ms": 3.5878230403983347,
|
| 40 |
+
"lag_range_ms": 16.54523075569428
|
| 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 |
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],
|
| 51 |
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[
|
| 52 |
+
0.0,
|
| 53 |
+
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 |
+
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 |
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"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 28065,
|
| 76 |
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"n_gyro": 28060,
|
| 77 |
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"t_start": -0.09520749681686755,
|
| 78 |
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"t_end": 138.14965976017848
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 27892,
|
| 82 |
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"n_gyro": 27886,
|
| 83 |
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"t_start": 0.016878173183074635,
|
| 84 |
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"t_end": 138.3177254231763
|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 27358,
|
| 88 |
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"n_gyro": 27358,
|
| 89 |
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"t_start": -0.8578628998235148,
|
| 90 |
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"t_end": 137.3112985671818
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 27283,
|
| 94 |
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"n_gyro": 27283,
|
| 95 |
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"t_start": -0.8192173508228665,
|
| 96 |
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"t_end": 137.31465991218138
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 13839,
|
| 100 |
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"t_start": 0.10228669218341349,
|
| 101 |
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"t_end": 138.48227321618324
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 13816,
|
| 105 |
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"t_start": -0.8439439118170343,
|
| 106 |
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"t_end": 137.30592059717893
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| 107 |
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},
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| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 13812,
|
| 110 |
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"t_start": -0.8007847408167367,
|
| 111 |
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"t_end": 137.30855721217668
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 37748.715563,
|
| 118 |
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"frames": 4138,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.03995667082782131,
|
| 124 |
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"t_end": 137.93994567082555,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 37748.715537,
|
| 131 |
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"frames": 4138,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.039720349790884596,
|
| 137 |
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"t_end": 137.93968734978844,
|
| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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},
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"RKneeIn 10mm",
|
| 401 |
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"RElbowIn 9mm",
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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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},
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|
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},
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],
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-6.2,
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5.0
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]
|
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},
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"RWristOut"
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]
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},
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"frames_used": 1500
|
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},
|
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"generated_at_utc": "2026-11-03T13:29:00.380362+00:00",
|
| 500 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 501 |
+
}
|
| 502 |
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},
|
| 503 |
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"release": {
|
| 504 |
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"release_path": "actions/static_manipulation/SM39/session_007",
|
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"family": "static_manipulation",
|
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"primitive": "SM39",
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"source_session": "20261031/SM39/20261031_112554_session145"
|
| 508 |
+
},
|
| 509 |
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"task": {
|
| 510 |
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"primitive": "SM39",
|
| 511 |
+
"instruction": "Cover the whole panel with the brush or roller, using long strokes. 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."
|
| 512 |
+
},
|
| 513 |
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"objects": [
|
| 514 |
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{
|
| 515 |
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"name": "Table",
|
| 516 |
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"object_type": "Table",
|
| 517 |
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"source": "mocap",
|
| 518 |
+
"pose_frame": "rigid_body"
|
| 519 |
+
}
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version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6047c8173609ba9fb2b1d4eb1529d1bac635a6a6bffc8ec9c109b94384870546
|
| 3 |
+
size 356352
|
actions/static_manipulation/SM39/session_007/raw/sensors/robowrist_mag_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:7db09c2d370e8cc77a2afaf06b0e06dc9be98305108f228305dd1aad91c2a0d4
|
| 3 |
+
size 356352
|