Release update 2026-11-05: new sessions, instructions, annotations (part 39)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/locomanipulation/LM45/session_027/raw/mocap/Table.trc +0 -0
- actions/locomanipulation/LM45/session_027/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM45/session_027/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM45/session_027/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM45/session_027/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM45/session_027/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM45/session_027/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM45/session_027/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM45/session_027/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM45/session_027/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM45/session_027/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM45/session_027/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM45/session_027/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM45/session_027/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM45/session_027/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM45/session_027/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM45/session_027/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM45/session_028/cameras/poses.npz +3 -0
- actions/locomanipulation/LM45/session_028/meta.json +548 -0
- actions/locomanipulation/LM45/session_028/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM45/session_028/motions/markers.npz +3 -0
- actions/locomanipulation/LM45/session_028/motions/object_markers.npz +3 -0
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- actions/locomanipulation/LM45/session_028/motions/objects.npz +3 -0
- actions/locomanipulation/LM45/session_028/motions/skeleton.npz +3 -0
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- actions/locomanipulation/LM45/session_028/raw/audio.wav +3 -0
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- actions/locomanipulation/LM45/session_028/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM45/session_028/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM45/session_028/raw/mocap/LittleBox4.csv +0 -0
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- actions/locomanipulation/LM45/session_028/raw/mocap/LittleBox5.csv +0 -0
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- actions/locomanipulation/LM45/session_028/raw/mocap/LittleBox6.csv +0 -0
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- actions/locomanipulation/LM45/session_028/raw/mocap/Table2.csv +0 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261102/LM45/20261102_102333_session169",
|
| 4 |
+
"session_id": "20261102_102333_session169",
|
| 5 |
+
"primitive": "LM45",
|
| 6 |
+
"batch": "20261102",
|
| 7 |
+
"participant": "wangzhixin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T21:46:15.322899+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": 116.825,
|
| 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": -0.082745,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9595,
|
| 32 |
+
"reference_imu_first_sample_s": 16752.114931483,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9847803026338353,
|
| 36 |
+
"drift_ppm": -557.2575755803485,
|
| 37 |
+
"drift_se_ppm": 312.709340953467,
|
| 38 |
+
"drift_ms_over_take": -65.09697245404439,
|
| 39 |
+
"lag_scatter_ms": 25.404626953943666,
|
| 40 |
+
"lag_range_ms": 101.89588422213238
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 23494,
|
| 76 |
+
"n_gyro": 23487,
|
| 77 |
+
"t_start": -0.09931267278499364,
|
| 78 |
+
"t_end": 117.02597636921509
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 23453,
|
| 82 |
+
"n_gyro": 23448,
|
| 83 |
+
"t_start": 0.009161317214772119,
|
| 84 |
+
"t_end": 117.19226652721353
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 23153,
|
| 88 |
+
"n_gyro": 23167,
|
| 89 |
+
"t_start": -0.9409783337838359,
|
| 90 |
+
"t_end": 115.99055953821461
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 23073,
|
| 94 |
+
"n_gyro": 23086,
|
| 95 |
+
"t_start": -0.8163161777853144,
|
| 96 |
+
"t_end": 115.99942945321472
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 11727,
|
| 100 |
+
"t_start": 0.08997111821680517,
|
| 101 |
+
"t_end": 117.34994629921438
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 11693,
|
| 105 |
+
"t_start": -0.9320264337844616,
|
| 106 |
+
"t_end": 115.987830776215
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 11681,
|
| 110 |
+
"t_start": -0.8082425967846699,
|
| 111 |
+
"t_end": 115.99157020521615
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 16752.235822,
|
| 118 |
+
"frames": 3504,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04048764601192159,
|
| 124 |
+
"t_end": 116.80717664601197,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 16752.235784,
|
| 131 |
+
"frames": 3504,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.04005622186322069,
|
| 137 |
+
"t_end": 116.8067232218631,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 16752.235809,
|
| 144 |
+
"frames": 3504,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03994938045742527,
|
| 150 |
+
"t_end": 116.80662738045739,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 16752.235837,
|
| 157 |
+
"frames": 3504,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03988982186218562,
|
| 163 |
+
"t_end": 116.80657882186223,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 16752.235798,
|
| 170 |
+
"frames": 3504,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.001668932298833096,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.0397901895152121,
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"file": "smplx.npz",
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"gender": "female",
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"betas_source": "participant median (derived/smplx/participants.json)",
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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|
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"median_frame": 6.9,
|
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|
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"worst_markers": [
|
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"WaistRBack 27mm",
|
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"WaistRSide 23mm",
|
| 398 |
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"LShin 22mm",
|
| 399 |
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"LKneeIn 17mm",
|
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"WaistRFront 14mm"
|
| 401 |
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],
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"valid_fraction": 1.0,
|
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|
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|
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|
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|
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"shape_source": "participant median",
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| 418 |
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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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|
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|
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|
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},
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|
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"RForearm",
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|
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|
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|
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|
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},
|
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"generated_at_utc": "2026-11-04T04:58:26.323629+00:00",
|
| 503 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 504 |
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}
|
| 505 |
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},
|
| 506 |
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"release": {
|
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"release_path": "actions/locomanipulation/LM45/session_028",
|
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|
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|
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|
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},
|
| 512 |
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"task": {
|
| 513 |
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"primitive": "LM45",
|
| 514 |
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"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 515 |
+
},
|
| 516 |
+
"objects": [
|
| 517 |
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{
|
| 518 |
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"name": "LittleBox4",
|
| 519 |
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"object_type": "LittleBox",
|
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"source": "mocap",
|
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"pose_frame": "mesh"
|
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},
|
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{
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"name": "LittleBox5",
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|
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},
|
| 529 |
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{
|
| 530 |
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"name": "LittleBox6",
|
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"object_type": "LittleBox",
|
| 532 |
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"source": "mocap",
|
| 533 |
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|
| 534 |
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},
|
| 535 |
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{
|
| 536 |
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"name": "OpenBox",
|
| 537 |
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"object_type": "OpenBox",
|
| 538 |
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"source": "mocap",
|
| 539 |
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"pose_frame": "rigid_body"
|
| 540 |
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},
|
| 541 |
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{
|
| 542 |
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"name": "Table",
|
| 543 |
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"object_type": "Table",
|
| 544 |
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"source": "mocap",
|
| 545 |
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"pose_frame": "rigid_body"
|
| 546 |
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}
|
| 547 |
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]
|
| 548 |
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}
|
actions/locomanipulation/LM45/session_028/motions/head_rig.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:2ffc8ccd3c8c0a60609b6fcc5806ed4be984ffec96d80bf8f083abf2c159afde
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size 1041004
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actions/locomanipulation/LM45/session_028/motions/markers.npz
ADDED
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@@ -0,0 +1,3 @@
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|
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|
|
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actions/locomanipulation/LM45/session_028/motions/object_markers.npz
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actions/locomanipulation/LM45/session_028/motions/objects.json
ADDED
|
@@ -0,0 +1,137 @@
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| 1 |
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{
|
| 2 |
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"session": "20261102/LM45/20261102_102333_session169",
|
| 3 |
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"generated_at_utc": "2026-11-04T21:18:48.112996+00:00",
|
| 4 |
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"generated_by": "scripts/export_objects.py",
|
| 5 |
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
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"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
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"held_by": "from mocap hands",
|
| 8 |
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"instances": [
|
| 9 |
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{
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| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 15 |
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"instance": "LittleBox4",
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| 17 |
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"rms_mm": 0.21
|
| 18 |
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},
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| 19 |
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|
| 20 |
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|
| 22 |
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| 23 |
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},
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| 24 |
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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",
|
| 30 |
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"calibration": {
|
| 31 |
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"instance": "LittleBox5",
|
| 32 |
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"rms_mm": 2.46
|
| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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{
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| 40 |
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"name": "LittleBox6",
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| 41 |
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"object_type": "LittleBox",
|
| 42 |
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| 43 |
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"pose_frame": "mesh",
|
| 44 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 45 |
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|
| 46 |
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"instance": "LittleBox6",
|
| 47 |
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|
| 48 |
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|
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|
| 51 |
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|
| 52 |
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|
| 53 |
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},
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{
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| 55 |
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"name": "OpenBox",
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| 56 |
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|
| 57 |
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"source": "mocap",
|
| 58 |
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|
| 59 |
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| 60 |
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|
| 61 |
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|
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|
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|
| 64 |
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|
| 65 |
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},
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| 66 |
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{
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| 67 |
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| 68 |
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"object_type": "Table",
|
| 69 |
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"source": "mocap",
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| 70 |
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"pose_frame": "rigid_body",
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| 71 |
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"mesh": null,
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| 72 |
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| 77 |
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],
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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"valid_s": 0.0
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| 84 |
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],
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"object_list": {
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| 87 |
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| 88 |
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"notes": [],
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| 89 |
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|
| 90 |
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| 91 |
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| 103 |
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| 105 |
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"name": "LittleBox6",
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| 115 |
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| 116 |
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| 136 |
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"notes": []
|
| 137 |
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}
|
actions/locomanipulation/LM45/session_028/motions/objects.npz
ADDED
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actions/locomanipulation/LM45/session_028/motions/skeleton.npz
ADDED
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@@ -0,0 +1,3 @@
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