Mayur1092 commited on
Commit
9a6b66e
·
verified ·
1 Parent(s): 9e86d3c

Release update 2026-11-05: new sessions, instructions, annotations (part 13)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +10 -0
  2. actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox1.trc +0 -0
  3. actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox3.csv +0 -0
  4. actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox3.trc +0 -0
  5. actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox5.csv +0 -0
  6. actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox5.trc +0 -0
  7. actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox6.csv +0 -0
  8. actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox6.trc +0 -0
  9. actions/locomanipulation/LM79/session_024/raw/mocap/Table.csv +0 -0
  10. actions/locomanipulation/LM79/session_024/raw/mocap/Table.trc +0 -0
  11. actions/locomanipulation/LM79/session_024/raw/mocap/Tracker0.csv +0 -0
  12. actions/locomanipulation/LM79/session_024/raw/mocap/Tracker0.trc +0 -0
  13. actions/locomanipulation/LM79/session_024/raw/sensors/robocap_imu_left.db +3 -0
  14. actions/locomanipulation/LM79/session_024/raw/sensors/robocap_imu_right.db +3 -0
  15. actions/locomanipulation/LM79/session_024/raw/sensors/robocap_mag_middle.db +3 -0
  16. actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_imu_left.db +3 -0
  17. actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_imu_right.db +3 -0
  18. actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_mag_left.db +3 -0
  19. actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_mag_right.db +3 -0
  20. actions/locomanipulation/LM79/session_024/sensors/head_imu.npz +3 -0
  21. actions/locomanipulation/LM79/session_024/sensors/head_mag.npz +3 -0
  22. actions/locomanipulation/LM79/session_024/sensors/wrist_imu.npz +3 -0
  23. actions/locomanipulation/LM79/session_024/sensors/wrist_mag.npz +3 -0
  24. actions/locomanipulation/LM79/session_024/videos/frame_timestamps.npz +3 -0
  25. actions/locomanipulation/LM79/session_024/videos/head_left.mp4 +3 -0
  26. actions/locomanipulation/LM79/session_024/videos/head_left_eye.mp4 +3 -0
  27. actions/locomanipulation/LM79/session_024/videos/head_left_front.mp4 +3 -0
  28. actions/locomanipulation/LM79/session_024/videos/head_right.mp4 +3 -0
  29. actions/locomanipulation/LM79/session_024/videos/head_right_eye.mp4 +3 -0
  30. actions/locomanipulation/LM79/session_024/videos/head_right_front.mp4 +3 -0
  31. actions/locomanipulation/LM79/session_024/videos/third_person.mp4 +3 -0
  32. actions/locomanipulation/LM79/session_024/videos/wrist_left.mp4 +3 -0
  33. actions/locomanipulation/LM79/session_024/videos/wrist_right.mp4 +3 -0
  34. actions/locomanipulation/LM79/session_025/cameras/poses.npz +3 -0
  35. actions/locomanipulation/LM79/session_025/meta.json +569 -0
  36. actions/locomanipulation/LM79/session_025/motions/head_rig.npz +3 -0
  37. actions/locomanipulation/LM79/session_025/motions/markers.npz +3 -0
  38. actions/locomanipulation/LM79/session_025/motions/object_markers.npz +3 -0
  39. actions/locomanipulation/LM79/session_025/motions/objects.json +127 -0
  40. actions/locomanipulation/LM79/session_025/motions/objects.npz +3 -0
  41. actions/locomanipulation/LM79/session_025/motions/skeleton.npz +3 -0
  42. actions/locomanipulation/LM79/session_025/motions/smplx.npz +3 -0
  43. actions/locomanipulation/LM79/session_025/raw/audio.wav +3 -0
  44. actions/locomanipulation/LM79/session_025/raw/manifest.json +374 -0
  45. actions/locomanipulation/LM79/session_025/raw/mocap/Body0.bvh +3 -0
  46. actions/locomanipulation/LM79/session_025/raw/mocap/Body0.csv +3 -0
  47. actions/locomanipulation/LM79/session_025/raw/mocap/Body0.trc +3 -0
  48. actions/locomanipulation/LM79/session_025/raw/mocap/LittleBox3.csv +0 -0
  49. actions/locomanipulation/LM79/session_025/raw/mocap/LittleBox3.trc +0 -0
  50. actions/locomanipulation/LM79/session_025/raw/mocap/LittleBox4.csv +0 -0
.gitattributes CHANGED
@@ -48094,3 +48094,13 @@ actions/locomanipulation/LM79/session_023/raw/sensors/robowrist_mag_left.db filt
48094
  actions/locomanipulation/LM79/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
48095
  actions/locomanipulation/LM79/session_024/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
48096
  actions/locomanipulation/LM79/session_024/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
48094
  actions/locomanipulation/LM79/session_023/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
48095
  actions/locomanipulation/LM79/session_024/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
48096
  actions/locomanipulation/LM79/session_024/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
48097
+ actions/locomanipulation/LM79/session_024/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
48098
+ actions/locomanipulation/LM79/session_024/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
48099
+ actions/locomanipulation/LM79/session_024/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
48100
+ actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
48101
+ actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
48102
+ actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
48103
+ actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
48104
+ actions/locomanipulation/LM79/session_025/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
48105
+ actions/locomanipulation/LM79/session_025/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
48106
+ actions/locomanipulation/LM79/session_025/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox1.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox3.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox3.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox5.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox5.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox6.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/LittleBox6.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/Table.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/Table.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/Tracker0.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/mocap/Tracker0.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_024/raw/sensors/robocap_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1645b915597a0cd92ca2d4ad9258956fc2d4676c2d48217001118a6810f046e2
3
+ size 1171456
actions/locomanipulation/LM79/session_024/raw/sensors/robocap_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d145f0f89ba04be4b6aa17ea457d249b5e8279d874d801bc18f0cca24013f6de
3
+ size 1130496
actions/locomanipulation/LM79/session_024/raw/sensors/robocap_mag_middle.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d39119fdeaffd0cede514b89c08d090c6ec353ed6fd2052b82a5e68fb0446436
3
+ size 307200
actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd7165c3b3c23a088cfd4241a67f3bb64e731d288c46afb99bd0b2a378810777
3
+ size 1130496
actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc97a70d919e6dd6e6f7716a25b22d5a27969a3e5f5aa5933f7b483c4e87580d
3
+ size 1126400
actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_mag_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9f0655a0da6255a2decc0c0ebf8b115d7c1aade02bfedb7c031f13cf06654fbb
3
+ size 294912
actions/locomanipulation/LM79/session_024/raw/sensors/robowrist_mag_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1fa63b60cfeb55d6bc5d848565f96647d00a1185ddc88eb8c4e8a2af6c790a20
3
+ size 294912
actions/locomanipulation/LM79/session_024/sensors/head_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:798c2f397c9964be0ffb9ff125681be4b68611f55b7aeda8bff731c0da8c8814
3
+ size 1247216
actions/locomanipulation/LM79/session_024/sensors/head_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5f284b00cd4c358dcc9c167b56553cff233a57111d154defd02a4c55a87edd4f
3
+ size 145524
actions/locomanipulation/LM79/session_024/sensors/wrist_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dacf71248d9c533a41663bd428faa4643072f1636e12a0f7f6ef51178d9a0dc9
3
+ size 1273181
actions/locomanipulation/LM79/session_024/sensors/wrist_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a2a7ac800e4de2c88d5186ca8579694c6fccc6eca1aa00f780493e3653897afd
3
+ size 249343
actions/locomanipulation/LM79/session_024/videos/frame_timestamps.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2d91c330079c979a25a4748f309cb1ebe6d52627587df04d52c58e97c2d368a3
3
+ size 215887
actions/locomanipulation/LM79/session_024/videos/head_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4684100c0800bb531cfbf1e69e159eb597b77ca566683d6a1f1ae3b482db2040
3
+ size 56562074
actions/locomanipulation/LM79/session_024/videos/head_left_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5c2564623e313f6d5f9074f47020b9465988fb1311db48bd114c20a3fd53319b
3
+ size 56331685
actions/locomanipulation/LM79/session_024/videos/head_left_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f39211876c514261865e1cf71625e7614e76039fc8bc3059c3bbc164d0ae1b11
3
+ size 56569074
actions/locomanipulation/LM79/session_024/videos/head_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ec91b02f5155e4a994e7c107160d0977cd1435af3390f90fae4c5201a4737eba
3
+ size 56597271
actions/locomanipulation/LM79/session_024/videos/head_right_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22dc3920efc0d325b0845d555eceba087b3e13dd147e4c2e05ffcb53e1506bbf
3
+ size 56556385
actions/locomanipulation/LM79/session_024/videos/head_right_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e061417876d6bafee591f0c190cea10813132c1a0aee7fc35a68ec36725b6904
3
+ size 56579730
actions/locomanipulation/LM79/session_024/videos/third_person.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c6ecc569e758a45bf43cddbbfeb2413f746cd437a14b9893f639f3a6fe2413a
3
+ size 44730704
actions/locomanipulation/LM79/session_024/videos/wrist_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5872b3650257d99ace3a1db563e8fdbff2f562f934e9a9316de66b43e83f4009
3
+ size 34979071
actions/locomanipulation/LM79/session_024/videos/wrist_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3e41837abe305418fd2fc17d1058c161913904325dc728b9067b9a1ff1f1df90
3
+ size 36536324
actions/locomanipulation/LM79/session_025/cameras/poses.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7f94912eb03f89ae465d5c35b171a46797bef49541fb51a45f7f428f2331311f
3
+ size 1498350
actions/locomanipulation/LM79/session_025/meta.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "session": "EgoMotionActions/20261029/LM79/20261029_012137_session6",
4
+ "session_id": "20261029_012137_session6",
5
+ "primitive": "LM79",
6
+ "batch": "20261029",
7
+ "participant": "zhangxinxin",
8
+ "participant_source": "manifest",
9
+ "device_ids": {
10
+ "main": "e3296774a321bb51",
11
+ "left": "39042f5fb5da3b12",
12
+ "right": "65a3481473d6e2a0"
13
+ },
14
+ "generated_at_utc": "2026-10-30T07:41:02.315139+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": 173.39166666666668,
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": -0.089483,
29
+ "rate": 0.0,
30
+ "global_lag_s": -0.09,
31
+ "peak_corr": 0.9672,
32
+ "reference_imu_first_sample_s": 2951.703784989,
33
+ "windows": {
34
+ "n_windows": 16,
35
+ "window_corr_median": 0.9944609465239123,
36
+ "drift_ppm": -231.50117278639038,
37
+ "drift_se_ppm": 136.03973770453996,
38
+ "drift_ms_over_take": -40.138445008280314,
39
+ "lag_scatter_ms": 23.46439013660745,
40
+ "lag_range_ms": 107.30548168694476
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": 34996,
76
+ "n_gyro": 34991,
77
+ "t_start": -0.09643219509969249,
78
+ "t_end": 173.59910750690045
79
+ },
80
+ "imu_head_left": {
81
+ "n_acc": 34823,
82
+ "n_gyro": 34818,
83
+ "t_start": 0.014956012900187762,
84
+ "t_end": 173.76426246890009
85
+ },
86
+ "imu_wrist_right": {
87
+ "n_acc": 35134,
88
+ "n_gyro": 35134,
89
+ "t_start": -0.8957002950997555,
90
+ "t_end": 172.27661063490035
91
+ },
92
+ "imu_wrist_left": {
93
+ "n_acc": 34920,
94
+ "n_gyro": 34933,
95
+ "t_start": -0.7667164930999895,
96
+ "t_end": 172.26628658390013
97
+ },
98
+ "mag_head": {
99
+ "n": 17384,
100
+ "t_start": 0.09642301290016285,
101
+ "t_end": 173.92651751290026
102
+ },
103
+ "mag_wrist_right": {
104
+ "n": 17316,
105
+ "t_start": -0.877764819099935,
106
+ "t_end": 172.27269492490035
107
+ },
108
+ "mag_wrist_left": {
109
+ "n": 17302,
110
+ "t_start": -0.7498168060997847,
111
+ "t_end": 172.25998252890025
112
+ }
113
+ },
114
+ "videos": {
115
+ "left": {
116
+ "fps": 30.0,
117
+ "start_device_s": 2951.830718,
118
+ "frames": 5201,
119
+ "pts_gaps": 0,
120
+ "timing": "pts",
121
+ "timeshift_cam_imu_s": 0.0025546514432425653,
122
+ "file": "robocap_segment1_video_left.mp4",
123
+ "t_start": 0.04000475834384297,
124
+ "t_end": 173.3733267583438,
125
+ "clock": "device",
126
+ "calibrated": true
127
+ },
128
+ "right": {
129
+ "fps": 30.0,
130
+ "start_device_s": 2951.83069,
131
+ "frames": 5201,
132
+ "pts_gaps": 0,
133
+ "timing": "pts",
134
+ "timeshift_cam_imu_s": 0.002366886077403108,
135
+ "file": "robocap_segment1_video_right.mp4",
136
+ "t_start": 0.03978899297719572,
137
+ "t_end": 173.37309999297707,
138
+ "clock": "device",
139
+ "calibrated": true
140
+ },
141
+ "left_front": {
142
+ "fps": 30.0,
143
+ "start_device_s": 2951.830709,
144
+ "frames": 5201,
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": 0.04011397810829685,
150
+ "t_end": 173.37342497810818,
151
+ "clock": "device",
152
+ "calibrated": true
153
+ },
154
+ "right_front": {
155
+ "fps": 30.0,
156
+ "start_device_s": 2951.830729,
157
+ "frames": 5201,
158
+ "pts_gaps": 0,
159
+ "timing": "pts",
160
+ "timeshift_cam_imu_s": 0.002595594493655556,
161
+ "file": "robocap_segment1_video_right_front.mp4",
162
+ "t_start": 0.04005670139388194,
163
+ "t_end": 173.37338970139393,
164
+ "clock": "device",
165
+ "calibrated": true
166
+ },
167
+ "left_eye": {
168
+ "fps": 30.0,
169
+ "start_device_s": 2951.830701,
170
+ "frames": 5197,
171
+ "pts_gaps": 4,
172
+ "timing": "pts",
173
+ "timeshift_cam_imu_s": 0.002394386090989767,
174
+ "gap_test": {
175
+ "pts": {
176
+ "offset_ms": 27.9,
177
+ "corr": 0.939,
178
+ "err_ms": 25.5
179
+ },
180
+ "nominal": {
181
+ "offset_ms": 88.5,
182
+ "corr": 0.937,
183
+ "err_ms": 86.1
184
+ }
185
+ },
186
+ "file": "robocap_segment1_video_left_eye.mp4",
187
+ "t_start": 0.039827492991138844,
188
+ "t_end": 173.3897714929912,
189
+ "clock": "device",
190
+ "calibrated": true
191
+ },
192
+ "right_eye": {
193
+ "fps": 30.0,
194
+ "start_device_s": 2951.83068,
195
+ "frames": 5201,
196
+ "pts_gaps": 0,
197
+ "timing": "pts",
198
+ "timeshift_cam_imu_s": 0.002315656053021164,
199
+ "file": "robocap_segment1_video_right_eye.mp4",
200
+ "t_start": 0.03972776295306567,
201
+ "t_end": 173.3730277629533,
202
+ "clock": "device",
203
+ "calibrated": true
204
+ },
205
+ "wrist_left": {
206
+ "fps": 30.0,
207
+ "start_device_s": 2951.023755,
208
+ "frames": 5190,
209
+ "pts_gaps": 0,
210
+ "timing": "pts",
211
+ "timeshift_cam_imu_s": null,
212
+ "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
213
+ "t_start": -0.769512893099614,
214
+ "t_end": 172.19695810690058,
215
+ "clock": "device",
216
+ "calibrated": false
217
+ },
218
+ "wrist_right": {
219
+ "fps": 30.0,
220
+ "start_device_s": 2950.89433,
221
+ "frames": 5195,
222
+ "pts_gaps": 0,
223
+ "timing": "pts",
224
+ "timeshift_cam_imu_s": null,
225
+ "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
226
+ "t_start": -0.898937893099697,
227
+ "t_end": 172.2348511069003,
228
+ "clock": "device",
229
+ "calibrated": false
230
+ },
231
+ "third_person": {
232
+ "file": "mocap/mocap-LM79-S01-zhangxinxin-01p2-1.mp4",
233
+ "frames": 5202,
234
+ "fps": 30.0,
235
+ "clock": "nokov (frame index)",
236
+ "t_start": 0.0,
237
+ "t_end": 173.36666666666667
238
+ }
239
+ }
240
+ },
241
+ "flags": [],
242
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
243
+ "rig_tracker": {
244
+ "definition": "e3296774a321bb51/20261029-morning/labels-145230/session-c0b5df4c91d98992",
245
+ "R_tracker0_imu0": [
246
+ [
247
+ -0.67405551,
248
+ 0.14551951,
249
+ -0.72420525
250
+ ],
251
+ [
252
+ 0.719806,
253
+ -0.09081579,
254
+ -0.68820913
255
+ ],
256
+ [
257
+ -0.16591713,
258
+ -0.98517844,
259
+ -0.04353094
260
+ ]
261
+ ],
262
+ "p_tracker0_imu0_m": [
263
+ -0.2369148251764158,
264
+ 0.06605198959695811,
265
+ -0.10936374795727076
266
+ ],
267
+ "rig_check": {
268
+ "gyro_samples": 3761,
269
+ "gyro_max_deg": 2.5,
270
+ "status": "video_solve",
271
+ "dropped_marker": null,
272
+ "gyro_deg": 0.458,
273
+ "video_solve": {
274
+ "status": "ok",
275
+ "reason": "",
276
+ "reprojection_px": 3.393,
277
+ "n_assoc": 248,
278
+ "gyro_deg": 0.458
279
+ }
280
+ },
281
+ "file": "derived/rig_tracker_provider/rig_tracker.json",
282
+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
283
+ },
284
+ "canonical": {
285
+ "generated_at_utc": "2026-11-03T09:17:33.169249+00:00",
286
+ "generated_by": "scripts/canonicalise_dataset.py",
287
+ "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
288
+ "R_canon_nokov": [
289
+ [
290
+ 0.9999999522,
291
+ -0.0003092869,
292
+ -1.3091e-06
293
+ ],
294
+ [
295
+ 1.3091e-06,
296
+ 0.0084652117,
297
+ -0.9999641695
298
+ ],
299
+ [
300
+ 0.0003092869,
301
+ 0.9999641216,
302
+ 0.0084652117
303
+ ]
304
+ ],
305
+ "scale_nokov_to_canon": 0.001,
306
+ "T_canon_nokov_mm": [
307
+ [
308
+ 0.000999999952,
309
+ -3.09287e-07,
310
+ -1.309e-09,
311
+ 0.0
312
+ ],
313
+ [
314
+ 1.309e-09,
315
+ 8.465212e-06,
316
+ -0.000999964169,
317
+ 0.0
318
+ ],
319
+ [
320
+ 3.09287e-07,
321
+ 0.000999964122,
322
+ 8.465212e-06,
323
+ 0.0
324
+ ],
325
+ [
326
+ 0.0,
327
+ 0.0,
328
+ 0.0,
329
+ 1.0
330
+ ]
331
+ ],
332
+ "block": "20261029-morning",
333
+ "block_assignment": "trc",
334
+ "tilt_removed_deg": 0.48535032632883635,
335
+ "plane_status": "ok",
336
+ "floor": {
337
+ "sole_marker_p1_mm": 34.7,
338
+ "headtop_p95_mm": 1638.1
339
+ },
340
+ "gravity_check": {
341
+ "static_samples": 10671,
342
+ "g_world_mean_m_s2": [
343
+ 0.0356,
344
+ -0.0955,
345
+ 9.7522
346
+ ],
347
+ "tilt_from_z_deg": 0.599,
348
+ "tilt_from_z_deg_before_levelling": 1.07,
349
+ "magnitude_m_s2": 9.7528
350
+ },
351
+ "rig_tracker_definition": "e3296774a321bb51/20261029-morning/labels-145230/session-c0b5df4c91d98992",
352
+ "rig_check": {
353
+ "status": "video_solve",
354
+ "dropped_marker": null,
355
+ "gyro_deg": 0.458
356
+ },
357
+ "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
358
+ "files": [
359
+ "mocap_zup.npz",
360
+ "tracker0_zup.npz",
361
+ "rig_zup.npz",
362
+ "cameras_zup.npz"
363
+ ]
364
+ },
365
+ "smplx": {
366
+ "generated_at_utc": "2026-11-03T10:21:45.621499+00:00",
367
+ "generated_by": "scripts/fit_smplx_dataset.py",
368
+ "file": "smplx.npz",
369
+ "gender": "female",
370
+ "n_betas": 16,
371
+ "betas_source": "participant median (derived/smplx/participants.json)",
372
+ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
373
+ "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
374
+ "hands": {
375
+ "observed": false,
376
+ "hand_pose": "flat (zeros, flat_hand_mean=True)",
377
+ "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
378
+ "hand_marker_offsets_m": {
379
+ "left": {
380
+ "LHandIn": [
381
+ 0.0741414949297905,
382
+ -0.015367201529443264,
383
+ 0.03436201065778732
384
+ ],
385
+ "LHandOut": [
386
+ 0.05859627202153206,
387
+ 0.020854145288467407,
388
+ 0.036056388169527054
389
+ ],
390
+ "LWristOut": [
391
+ -0.014710700139403343,
392
+ 0.026934050023555756,
393
+ 0.015582999214529991
394
+ ]
395
+ },
396
+ "right": {
397
+ "RHandIn": [
398
+ -0.0547509640455246,
399
+ 0.011788991279900074,
400
+ 0.02615114115178585
401
+ ],
402
+ "RHandOut": [
403
+ -0.05153745040297508,
404
+ 0.026955222710967064,
405
+ -0.018704045563936234
406
+ ],
407
+ "RWristOut": [
408
+ 0.020507173612713814,
409
+ 0.03232797980308533,
410
+ -0.019120607525110245
411
+ ]
412
+ }
413
+ }
414
+ },
415
+ "marker_rmse_mm": {
416
+ "median_frame": 3.55,
417
+ "p95_frame": 6.69
418
+ },
419
+ "worst_markers": [
420
+ "RElbowIn 9mm",
421
+ "RElbow 9mm",
422
+ "CLAV 9mm",
423
+ "STRN 7mm",
424
+ "T10 6mm"
425
+ ],
426
+ "valid_fraction": 1.0,
427
+ "qc": {
428
+ "lowest_vertex_mm": {
429
+ "median": 2.8,
430
+ "p5": -1.2
431
+ },
432
+ "frames_checked": 694,
433
+ "stature_mm": 1627.7
434
+ },
435
+ "surface_term": {
436
+ "weight": 1.0,
437
+ "marker_height_mm": 11.0,
438
+ "markers_on_surface": 52,
439
+ "surface_rmse_mm_median": 11.91
440
+ },
441
+ "shape_source": "participant median",
442
+ "wrist_correction": {
443
+ "left": {
444
+ "status": "corrected",
445
+ "Q_deg": 109.18,
446
+ "Q_rotvec": [
447
+ 1.83661,
448
+ -0.24786,
449
+ 0.44362
450
+ ],
451
+ "in_out_sign": 1,
452
+ "wrist_bend_deg_median": 84.9,
453
+ "opposite_sign_bend_deg": 108.1,
454
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
455
+ "marker_frame_spread_deg": 2.27,
456
+ "hand_vs_marker_frame_deg": {
457
+ "before": 109.56,
458
+ "after": 2.27
459
+ },
460
+ "markers_on_wrist": [
461
+ "LWristOut",
462
+ "LHandIn",
463
+ "LHandOut"
464
+ ],
465
+ "forearm_twist": {
466
+ "twist_moved_deg": 82.3,
467
+ "wrist_twist_deg_after": {
468
+ "median": -0.0,
469
+ "iqr": [
470
+ -2.5,
471
+ 1.6
472
+ ]
473
+ },
474
+ "wrist_total_deg_median_after": 21.8,
475
+ "markers_on_forearm": [
476
+ "LElbowIn",
477
+ "LForearm",
478
+ "LWristIn"
479
+ ]
480
+ },
481
+ "frames_used": 1500
482
+ },
483
+ "right": {
484
+ "status": "corrected",
485
+ "Q_deg": 31.74,
486
+ "Q_rotvec": [
487
+ 0.45558,
488
+ 0.2536,
489
+ -0.1872
490
+ ],
491
+ "in_out_sign": 1,
492
+ "wrist_bend_deg_median": 43.6,
493
+ "opposite_sign_bend_deg": 149.2,
494
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
495
+ "marker_frame_spread_deg": 3.12,
496
+ "hand_vs_marker_frame_deg": {
497
+ "before": 31.99,
498
+ "after": 3.12
499
+ },
500
+ "markers_on_wrist": [
501
+ "RWristOut",
502
+ "RHandIn",
503
+ "RHandOut"
504
+ ],
505
+ "forearm_twist": {
506
+ "twist_moved_deg": -37.22,
507
+ "wrist_twist_deg_after": {
508
+ "median": -0.0,
509
+ "iqr": [
510
+ -3.9,
511
+ 1.4
512
+ ]
513
+ },
514
+ "wrist_total_deg_median_after": 23.3,
515
+ "markers_on_forearm": [
516
+ "RElbowIn",
517
+ "RForearm",
518
+ "RWristIn"
519
+ ]
520
+ },
521
+ "frames_used": 1500
522
+ },
523
+ "generated_at_utc": "2026-11-03T10:21:49.339939+00:00",
524
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
525
+ }
526
+ },
527
+ "release": {
528
+ "release_path": "actions/locomanipulation/LM79/session_025",
529
+ "family": "locomanipulation",
530
+ "primitive": "LM79",
531
+ "source_session": "20261029/LM79/20261029_012137_session6"
532
+ },
533
+ "task": {
534
+ "primitive": "LM79",
535
+ "instruction": "Carry the object over and set it down on the wobbly board without tipping it over. Keep going until the operator says stop; one object at a time, and do not rush between trips."
536
+ },
537
+ "objects": [
538
+ {
539
+ "name": "LittleBox3",
540
+ "object_type": "LittleBox",
541
+ "source": "mocap",
542
+ "pose_frame": "mesh"
543
+ },
544
+ {
545
+ "name": "LittleBox4",
546
+ "object_type": "LittleBox",
547
+ "source": "mocap",
548
+ "pose_frame": "mesh"
549
+ },
550
+ {
551
+ "name": "LittleBox5",
552
+ "object_type": "LittleBox",
553
+ "source": "mocap",
554
+ "pose_frame": "mesh"
555
+ },
556
+ {
557
+ "name": "LittleBox6",
558
+ "object_type": "LittleBox",
559
+ "source": "mocap",
560
+ "pose_frame": "mesh"
561
+ },
562
+ {
563
+ "name": "Table",
564
+ "object_type": "Table",
565
+ "source": "mocap",
566
+ "pose_frame": "rigid_body"
567
+ }
568
+ ]
569
+ }
actions/locomanipulation/LM79/session_025/motions/head_rig.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:84ae382e34349370a64f6fdf06f3701ca5583e309b019da31cff9310fd96244a
3
+ size 1515653
actions/locomanipulation/LM79/session_025/motions/markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5001ebdedee9f903314019e983ce3def15c4152fef9eaf4918a613779b50a33d
3
+ size 11718911
actions/locomanipulation/LM79/session_025/motions/object_markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:adaf99082b7821563866ce3f11cb8227e21318e81cfe1ad4cd35bcdc17cf84ca
3
+ size 2650501
actions/locomanipulation/LM79/session_025/motions/objects.json ADDED
@@ -0,0 +1,127 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "session": "20261029/LM79/20261029_012137_session6",
3
+ "generated_at_utc": "2026-11-04T20:41:06.594653+00:00",
4
+ "generated_by": "scripts/export_objects.py",
5
+ "frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
6
+ "grid": "body grid (smplx.npz t / frame_index)",
7
+ "held_by": "from mocap hands",
8
+ "instances": [
9
+ {
10
+ "name": "LittleBox3",
11
+ "object_type": "LittleBox",
12
+ "source": "mocap",
13
+ "pose_frame": "mesh",
14
+ "mesh": "objects/LittleBox/littlebox.ply",
15
+ "calibration": {
16
+ "instance": "LittleBox3",
17
+ "rms_mm": 4.41
18
+ },
19
+ "valid_pct": 38.47,
20
+ "verified_pct": 38.46,
21
+ "moving_pct": 22.1,
22
+ "vision_source": null
23
+ },
24
+ {
25
+ "name": "LittleBox4",
26
+ "object_type": "LittleBox",
27
+ "source": "mocap",
28
+ "pose_frame": "mesh",
29
+ "mesh": "objects/LittleBox/littlebox.ply",
30
+ "calibration": {
31
+ "instance": "LittleBox4",
32
+ "rms_mm": 0.52
33
+ },
34
+ "valid_pct": 99.99,
35
+ "verified_pct": 99.99,
36
+ "moving_pct": 0.0,
37
+ "vision_source": null
38
+ },
39
+ {
40
+ "name": "LittleBox5",
41
+ "object_type": "LittleBox",
42
+ "source": "mocap",
43
+ "pose_frame": "mesh",
44
+ "mesh": "objects/LittleBox/littlebox.ply",
45
+ "calibration": {
46
+ "instance": "LittleBox5",
47
+ "rms_mm": 1.1
48
+ },
49
+ "valid_pct": 87.97,
50
+ "verified_pct": 87.95,
51
+ "moving_pct": 0.29,
52
+ "vision_source": null
53
+ },
54
+ {
55
+ "name": "LittleBox6",
56
+ "object_type": "LittleBox",
57
+ "source": "mocap",
58
+ "pose_frame": "mesh",
59
+ "mesh": "objects/LittleBox/littlebox.ply",
60
+ "calibration": {
61
+ "instance": "LittleBox6",
62
+ "rms_mm": 1.53
63
+ },
64
+ "valid_pct": 70.14,
65
+ "verified_pct": 70.1,
66
+ "moving_pct": 27.58,
67
+ "vision_source": null
68
+ },
69
+ {
70
+ "name": "Table",
71
+ "object_type": "Table",
72
+ "source": "mocap",
73
+ "pose_frame": "rigid_body",
74
+ "mesh": null,
75
+ "calibration": null,
76
+ "valid_pct": 100.0,
77
+ "verified_pct": 100.0,
78
+ "moving_pct": 0.0,
79
+ "vision_source": null
80
+ }
81
+ ],
82
+ "absent": [],
83
+ "object_list": {
84
+ "status": "corrected",
85
+ "notes": [],
86
+ "declared": [
87
+ "LittleBox3",
88
+ "LittleBox4",
89
+ "LittleBox5",
90
+ "LittleBox6",
91
+ "Table0"
92
+ ],
93
+ "listed": [
94
+ {
95
+ "name": "LittleBox3",
96
+ "object": "LittleBox",
97
+ "source": "mocap",
98
+ "needs_video_check": false
99
+ },
100
+ {
101
+ "name": "LittleBox4",
102
+ "object": "LittleBox",
103
+ "source": "mocap",
104
+ "needs_video_check": false
105
+ },
106
+ {
107
+ "name": "LittleBox5",
108
+ "object": "LittleBox",
109
+ "source": "mocap",
110
+ "needs_video_check": false
111
+ },
112
+ {
113
+ "name": "LittleBox6",
114
+ "object": "LittleBox",
115
+ "source": "mocap",
116
+ "needs_video_check": false
117
+ },
118
+ {
119
+ "name": "Table",
120
+ "object": null,
121
+ "source": "mocap",
122
+ "needs_video_check": false
123
+ }
124
+ ]
125
+ },
126
+ "notes": []
127
+ }
actions/locomanipulation/LM79/session_025/motions/objects.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f95f7d7cf7bbda94d5f65e39f9f615ffaa18de3c3a36bac7570a0e8ff1dad520
3
+ size 3240360
actions/locomanipulation/LM79/session_025/motions/skeleton.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:15a7d92127b7d0306957f2eb8dd0c606e2323cfdd1c70d5b005debc0f7da8ba8
3
+ size 11505934
actions/locomanipulation/LM79/session_025/motions/smplx.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:51ae520d557881f51291e4cff15ebfe20fbda2476ea27f1361c4c2f64d5f946c
3
+ size 7894974
actions/locomanipulation/LM79/session_025/raw/audio.wav ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b13a252d6f333287931c350ace5964c225aef2c150c5da8d2fb5fda9cc390359
3
+ size 33377358
actions/locomanipulation/LM79/session_025/raw/manifest.json ADDED
@@ -0,0 +1,374 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "created_at_utc": "2026-10-29T20:02:11.163103+00:00",
4
+ "primitive_id": "LM79",
5
+ "session_id": "20261029_012137_session6",
6
+ "upload_batch_id": "20261029",
7
+ "dataset_path": "EgoMotionActions/20261029/LM79/20261029_012137_session6",
8
+ "segment": "auto/all",
9
+ "duration_s": 173.333322,
10
+ "device_ids": {
11
+ "main": "e3296774a321bb51",
12
+ "left": "39042f5fb5da3b12",
13
+ "right": "65a3481473d6e2a0"
14
+ },
15
+ "mocap_rigid_names": [
16
+ "Body0",
17
+ "LittleBox3",
18
+ "LittleBox4",
19
+ "LittleBox5",
20
+ "LittleBox6",
21
+ "Table",
22
+ "Tracker0"
23
+ ],
24
+ "objects": [
25
+ "LittleBox3",
26
+ "LittleBox4",
27
+ "LittleBox5",
28
+ "LittleBox6",
29
+ "Table0"
30
+ ],
31
+ "options": {
32
+ "raw_video": true,
33
+ "proxy_height": 540,
34
+ "proxy_crf": 28,
35
+ "proxy_bitrate": "1400k",
36
+ "mocap_selection": "explicit",
37
+ "mocap_files": [
38
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-1.mp4",
39
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Body0.bvh",
40
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Body0.csv",
41
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Body0.trc",
42
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox3.csv",
43
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox3.trc",
44
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox4.csv",
45
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox4.trc",
46
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox5.csv",
47
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox5.trc",
48
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox6.csv",
49
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox6.trc",
50
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Table.csv",
51
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Table.trc",
52
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Tracker0.csv",
53
+ "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Tracker0.trc"
54
+ ],
55
+ "include_rrd": false,
56
+ "rrd_files": [],
57
+ "aligned_intersection": false
58
+ },
59
+ "files": [
60
+ {
61
+ "source": "audio_segment1.wav",
62
+ "packaged_as": "audio_segment1.wav",
63
+ "kind": "data",
64
+ "original_bytes": 33377358,
65
+ "packaged_bytes": 33377358,
66
+ "compressed_video": false,
67
+ "sha256": "b13a252d6f333287931c350ace5964c225aef2c150c5da8d2fb5fda9cc390359"
68
+ },
69
+ {
70
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-1.mp4",
71
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-1.mp4",
72
+ "kind": "video_raw",
73
+ "original_bytes": 87601314,
74
+ "packaged_bytes": 87601314,
75
+ "compressed_video": false,
76
+ "sha256": "d10be1cf0a74923f3f8573cae68a57847cbdd00a95f7d98a59648f6616e60b6b"
77
+ },
78
+ {
79
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Body0.bvh",
80
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-Body0.bvh",
81
+ "kind": "data",
82
+ "original_bytes": 12467574,
83
+ "packaged_bytes": 12467574,
84
+ "compressed_video": false,
85
+ "sha256": "37b14625e2949480049aa55da4c9b4e2af68f42489045e413eb928ed5327b8e8"
86
+ },
87
+ {
88
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Body0.csv",
89
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-Body0.csv",
90
+ "kind": "data",
91
+ "original_bytes": 171145746,
92
+ "packaged_bytes": 171145746,
93
+ "compressed_video": false,
94
+ "sha256": "0d11a0167c8860d9141860f3a9c24dc271c3d3c82aae949160445fd5c741e320"
95
+ },
96
+ {
97
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Body0.trc",
98
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-Body0.trc",
99
+ "kind": "data",
100
+ "original_bytes": 37954518,
101
+ "packaged_bytes": 37954518,
102
+ "compressed_video": false,
103
+ "sha256": "2da40fe2ddc726f357f9efc5e5823c95d7947504987561b96dc8f1fcc5905ad0"
104
+ },
105
+ {
106
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox3.csv",
107
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox3.csv",
108
+ "kind": "data",
109
+ "original_bytes": 5569092,
110
+ "packaged_bytes": 5569092,
111
+ "compressed_video": false,
112
+ "sha256": "27f4100f62862a595a0e2335c3777108899a2f3419fa2486c3df72730a29f48b"
113
+ },
114
+ {
115
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox3.trc",
116
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox3.trc",
117
+ "kind": "data",
118
+ "original_bytes": 3246731,
119
+ "packaged_bytes": 3246731,
120
+ "compressed_video": false,
121
+ "sha256": "a9b2807ad60928f4b1091142b3e9ee79b9292cd0d40560010011e1a2b4beb204"
122
+ },
123
+ {
124
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox4.csv",
125
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox4.csv",
126
+ "kind": "data",
127
+ "original_bytes": 6271237,
128
+ "packaged_bytes": 6271237,
129
+ "compressed_video": false,
130
+ "sha256": "88f11ac494e63cc2e6d1001e7a47c15a64505c446dcb71b0a61010c4f217b8ed"
131
+ },
132
+ {
133
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox4.trc",
134
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox4.trc",
135
+ "kind": "data",
136
+ "original_bytes": 6343430,
137
+ "packaged_bytes": 6343430,
138
+ "compressed_video": false,
139
+ "sha256": "28a0130fdc9229329e064b6ea749b501c36f2ae3f4b543c3f69b483f455b612d"
140
+ },
141
+ {
142
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox5.csv",
143
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox5.csv",
144
+ "kind": "data",
145
+ "original_bytes": 6284310,
146
+ "packaged_bytes": 6284310,
147
+ "compressed_video": false,
148
+ "sha256": "8e11c5ed896a93cbc1894fd3f3bae2e57e136aed6dae2bb3916526ab80c4d4be"
149
+ },
150
+ {
151
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox5.trc",
152
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox5.trc",
153
+ "kind": "data",
154
+ "original_bytes": 5314962,
155
+ "packaged_bytes": 5314962,
156
+ "compressed_video": false,
157
+ "sha256": "4cdbd89308c0d158b697fe40d78f4e9b7d6693a9dcadea6ed33ffc095d1c2995"
158
+ },
159
+ {
160
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox6.csv",
161
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox6.csv",
162
+ "kind": "data",
163
+ "original_bytes": 6402796,
164
+ "packaged_bytes": 6402796,
165
+ "compressed_video": false,
166
+ "sha256": "8f8a96bde4e93ef586eb3db0e5f530b1516bf79d777bd53b5010523a76b028b3"
167
+ },
168
+ {
169
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-LittleBox6.trc",
170
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-LittleBox6.trc",
171
+ "kind": "data",
172
+ "original_bytes": 4522195,
173
+ "packaged_bytes": 4522195,
174
+ "compressed_video": false,
175
+ "sha256": "67a62e64e3a17628a6668b6205f95ef4866c0243d48ed493d8af3753e4a206a0"
176
+ },
177
+ {
178
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Table.csv",
179
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-Table.csv",
180
+ "kind": "data",
181
+ "original_bytes": 6270280,
182
+ "packaged_bytes": 6270280,
183
+ "compressed_video": false,
184
+ "sha256": "20b9d1f540156e4674c68fddc3be7b76620248aa0c84dcb214e096d3f13f9d71"
185
+ },
186
+ {
187
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Table.trc",
188
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-Table.trc",
189
+ "kind": "data",
190
+ "original_bytes": 6260205,
191
+ "packaged_bytes": 6260205,
192
+ "compressed_video": false,
193
+ "sha256": "353e41e1945d348ec0c5ec09b007b5079ed4209a9ee1b8c5361ba15487e534bb"
194
+ },
195
+ {
196
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Tracker0.csv",
197
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-Tracker0.csv",
198
+ "kind": "data",
199
+ "original_bytes": 6567470,
200
+ "packaged_bytes": 6567470,
201
+ "compressed_video": false,
202
+ "sha256": "aa6cb1abd4bf859b88548b7559f7da16bf764e3df026e5167c79ff69d87b7064"
203
+ },
204
+ {
205
+ "source": "mocap-LM79-S01-zhangxinxin-01p2/mocap-LM79-S01-zhangxinxin-01p2-Tracker0.trc",
206
+ "packaged_as": "mocap/mocap-LM79-S01-zhangxinxin-01p2-Tracker0.trc",
207
+ "kind": "data",
208
+ "original_bytes": 6354804,
209
+ "packaged_bytes": 6354804,
210
+ "compressed_video": false,
211
+ "sha256": "9ca66684a9efdbf3a435aaa27bdfe63149889b7e4152ec3add05acaef436cfc9"
212
+ },
213
+ {
214
+ "source": "robocap_segment1_imu_left.db",
215
+ "packaged_as": "robocap_segment1_imu_left.db",
216
+ "kind": "data",
217
+ "original_bytes": 1777664,
218
+ "packaged_bytes": 1777664,
219
+ "compressed_video": false,
220
+ "sha256": "1c9f2cc60fca73dba9555b466a4c4677db1d4e5f8bd52ad4699966f5d55c987b"
221
+ },
222
+ {
223
+ "source": "robocap_segment1_imu_right.db",
224
+ "packaged_as": "robocap_segment1_imu_right.db",
225
+ "kind": "data",
226
+ "original_bytes": 1720320,
227
+ "packaged_bytes": 1720320,
228
+ "compressed_video": false,
229
+ "sha256": "a901b9344dc4f662529bd7b9fda0dc10abf9e8da679af68fa784c1cacae710ac"
230
+ },
231
+ {
232
+ "source": "robocap_segment1_mag_middle.db",
233
+ "packaged_as": "robocap_segment1_mag_middle.db",
234
+ "kind": "data",
235
+ "original_bytes": 458752,
236
+ "packaged_bytes": 458752,
237
+ "compressed_video": false,
238
+ "sha256": "fc6db2975252aca879fa6c96303e9916850598d5b60420d4fe5f5af1790be504"
239
+ },
240
+ {
241
+ "source": "robocap_segment1_video_left.mp4",
242
+ "packaged_as": "robocap_segment1_video_left.mp4",
243
+ "kind": "video_raw",
244
+ "original_bytes": 86991649,
245
+ "packaged_bytes": 86991649,
246
+ "compressed_video": false,
247
+ "sha256": "c60fb074219247633010e2b655f2b203b98ac30daa995c45bc75f5d0caf453ed"
248
+ },
249
+ {
250
+ "source": "robocap_segment1_video_left_eye.mp4",
251
+ "packaged_as": "robocap_segment1_video_left_eye.mp4",
252
+ "kind": "video_raw",
253
+ "original_bytes": 86784536,
254
+ "packaged_bytes": 86784536,
255
+ "compressed_video": false,
256
+ "sha256": "720de0fb3a90bf37bc5f660415adece7e726623005e8620d34364829e23d9780"
257
+ },
258
+ {
259
+ "source": "robocap_segment1_video_left_front.mp4",
260
+ "packaged_as": "robocap_segment1_video_left_front.mp4",
261
+ "kind": "video_raw",
262
+ "original_bytes": 86864272,
263
+ "packaged_bytes": 86864272,
264
+ "compressed_video": false,
265
+ "sha256": "7c30c66c32529922f5fadcc8c5a1ef1bb0e8c482bab7bcccdf7d3444068c723a"
266
+ },
267
+ {
268
+ "source": "robocap_segment1_video_right.mp4",
269
+ "packaged_as": "robocap_segment1_video_right.mp4",
270
+ "kind": "video_raw",
271
+ "original_bytes": 86954794,
272
+ "packaged_bytes": 86954794,
273
+ "compressed_video": false,
274
+ "sha256": "dfb36705c97071b30bc725129a7b925d5f1c4cc6713a4fcfacf6b624e45248b8"
275
+ },
276
+ {
277
+ "source": "robocap_segment1_video_right_eye.mp4",
278
+ "packaged_as": "robocap_segment1_video_right_eye.mp4",
279
+ "kind": "video_raw",
280
+ "original_bytes": 86924445,
281
+ "packaged_bytes": 86924445,
282
+ "compressed_video": false,
283
+ "sha256": "ad4fca64abac3d8e43af96763f92af81778e9a800f625c213ba7a99b73f6f2f0"
284
+ },
285
+ {
286
+ "source": "robocap_segment1_video_right_front.mp4",
287
+ "packaged_as": "robocap_segment1_video_right_front.mp4",
288
+ "kind": "video_raw",
289
+ "original_bytes": 86905032,
290
+ "packaged_bytes": 86905032,
291
+ "compressed_video": false,
292
+ "sha256": "c9b61eb33f52a875fbb3ff868c929fc3e31f8bc45664202903b4bc25d9f0ac8f"
293
+ },
294
+ {
295
+ "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
296
+ "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
297
+ "kind": "data",
298
+ "original_bytes": 1720320,
299
+ "packaged_bytes": 1720320,
300
+ "compressed_video": false,
301
+ "sha256": "916948284ccd400dd60b9fbc8e35cbf42ba4f8c1f1fb5d2174fe33b95a376e41"
302
+ },
303
+ {
304
+ "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
305
+ "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
306
+ "kind": "data",
307
+ "original_bytes": 438272,
308
+ "packaged_bytes": 438272,
309
+ "compressed_video": false,
310
+ "sha256": "4ba2b7fe0eb6c59301caeba9bdf6c89fc5df9afc3403413f47ab59d9ef631cb6"
311
+ },
312
+ {
313
+ "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
314
+ "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
315
+ "kind": "video_raw",
316
+ "original_bytes": 62694823,
317
+ "packaged_bytes": 62694823,
318
+ "compressed_video": false,
319
+ "sha256": "db586abfc9595d426cade35393512e495823eb705a1e95cecb02e77ea16bf718"
320
+ },
321
+ {
322
+ "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
323
+ "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
324
+ "kind": "data",
325
+ "original_bytes": 1728512,
326
+ "packaged_bytes": 1728512,
327
+ "compressed_video": false,
328
+ "sha256": "fa219914a4958efbe257713f35ff1b76bca65559c2e11413d4ca9a7743c98c52"
329
+ },
330
+ {
331
+ "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
332
+ "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
333
+ "kind": "data",
334
+ "original_bytes": 442368,
335
+ "packaged_bytes": 442368,
336
+ "compressed_video": false,
337
+ "sha256": "09c3c151b038777db23e3641fcb9bab67790b1fcf9204fd968a82ed94f3aa752"
338
+ },
339
+ {
340
+ "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
341
+ "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
342
+ "kind": "video_raw",
343
+ "original_bytes": 58692138,
344
+ "packaged_bytes": 58692138,
345
+ "compressed_video": false,
346
+ "sha256": "7741520ea0b0d281a3aad42e2c38475c39eeb97e5a0e3c5a5f3bc6387d3e6026"
347
+ },
348
+ {
349
+ "source": "_artifacts/segment1/inspection/timestamp_anomaly_detail_table.html",
350
+ "packaged_as": "timestamp_anomaly_detail_table.html",
351
+ "kind": "inspection_html",
352
+ "original_bytes": 9822686,
353
+ "packaged_bytes": 9822640,
354
+ "compressed_video": false,
355
+ "sha256": "6a831527afbb7447b00c76fc7dc00aa17e7c38bf8ff7fafb8c3960a8edbe8bd2"
356
+ }
357
+ ],
358
+ "mocap_capture": {
359
+ "source_directory": "mocap-LM79-S01-zhangxinxin-01p2",
360
+ "action_id": "LM79",
361
+ "collection_session_index": 1,
362
+ "participant": "zhangxinxin",
363
+ "repetition_count": 1
364
+ },
365
+ "upload_batch_created_at": "2026-10-30T04:43:45.259340+08:00",
366
+ "participant_gender": "female",
367
+ "participant_height_cm": 160,
368
+ "participant_weight_kg": 60,
369
+ "collection_site": {
370
+ "id": "site_00",
371
+ "assignment_method": "env",
372
+ "catalog": "collection_sites.json"
373
+ }
374
+ }
actions/locomanipulation/LM79/session_025/raw/mocap/Body0.bvh ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:37b14625e2949480049aa55da4c9b4e2af68f42489045e413eb928ed5327b8e8
3
+ size 12467574
actions/locomanipulation/LM79/session_025/raw/mocap/Body0.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d11a0167c8860d9141860f3a9c24dc271c3d3c82aae949160445fd5c741e320
3
+ size 171145746
actions/locomanipulation/LM79/session_025/raw/mocap/Body0.trc ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2da40fe2ddc726f357f9efc5e5823c95d7947504987561b96dc8f1fcc5905ad0
3
+ size 37954518
actions/locomanipulation/LM79/session_025/raw/mocap/LittleBox3.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_025/raw/mocap/LittleBox3.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_025/raw/mocap/LittleBox4.csv ADDED
The diff for this file is too large to render. See raw diff