Mayur1092 commited on
Commit
a116a71
·
verified ·
1 Parent(s): 51a1aa5

Release update 2026-11-05: new sessions, instructions, annotations (part 10)

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 +12 -0
  2. actions/locomanipulation/LM79/session_019/raw/mocap/Body0.csv +3 -0
  3. actions/locomanipulation/LM79/session_019/raw/mocap/Body0.trc +3 -0
  4. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox1.csv +0 -0
  5. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox1.trc +0 -0
  6. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox2.csv +0 -0
  7. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox2.trc +0 -0
  8. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox3.csv +0 -0
  9. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox3.trc +0 -0
  10. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox4.csv +0 -0
  11. actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox4.trc +0 -0
  12. actions/locomanipulation/LM79/session_019/raw/mocap/Table.csv +0 -0
  13. actions/locomanipulation/LM79/session_019/raw/mocap/Table.trc +0 -0
  14. actions/locomanipulation/LM79/session_019/raw/mocap/Tracker0.csv +0 -0
  15. actions/locomanipulation/LM79/session_019/raw/mocap/Tracker0.trc +0 -0
  16. actions/locomanipulation/LM79/session_019/raw/sensors/robocap_imu_left.db +3 -0
  17. actions/locomanipulation/LM79/session_019/raw/sensors/robocap_imu_right.db +3 -0
  18. actions/locomanipulation/LM79/session_019/raw/sensors/robocap_mag_middle.db +3 -0
  19. actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_imu_left.db +3 -0
  20. actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_imu_right.db +3 -0
  21. actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_mag_left.db +3 -0
  22. actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_mag_right.db +3 -0
  23. actions/locomanipulation/LM79/session_019/sensors/head_imu.npz +3 -0
  24. actions/locomanipulation/LM79/session_019/sensors/head_mag.npz +3 -0
  25. actions/locomanipulation/LM79/session_019/sensors/wrist_imu.npz +3 -0
  26. actions/locomanipulation/LM79/session_019/sensors/wrist_mag.npz +3 -0
  27. actions/locomanipulation/LM79/session_019/videos/frame_timestamps.npz +3 -0
  28. actions/locomanipulation/LM79/session_019/videos/head_left.mp4 +3 -0
  29. actions/locomanipulation/LM79/session_019/videos/head_left_eye.mp4 +3 -0
  30. actions/locomanipulation/LM79/session_019/videos/head_left_front.mp4 +3 -0
  31. actions/locomanipulation/LM79/session_019/videos/head_right.mp4 +3 -0
  32. actions/locomanipulation/LM79/session_019/videos/head_right_eye.mp4 +3 -0
  33. actions/locomanipulation/LM79/session_019/videos/head_right_front.mp4 +3 -0
  34. actions/locomanipulation/LM79/session_019/videos/third_person.mp4 +3 -0
  35. actions/locomanipulation/LM79/session_019/videos/wrist_left.mp4 +3 -0
  36. actions/locomanipulation/LM79/session_019/videos/wrist_right.mp4 +3 -0
  37. actions/locomanipulation/LM79/session_020/cameras/poses.npz +3 -0
  38. actions/locomanipulation/LM79/session_020/meta.json +567 -0
  39. actions/locomanipulation/LM79/session_020/motions/head_rig.npz +3 -0
  40. actions/locomanipulation/LM79/session_020/motions/markers.npz +3 -0
  41. actions/locomanipulation/LM79/session_020/motions/object_markers.npz +3 -0
  42. actions/locomanipulation/LM79/session_020/motions/objects.json +124 -0
  43. actions/locomanipulation/LM79/session_020/motions/objects.npz +3 -0
  44. actions/locomanipulation/LM79/session_020/motions/skeleton.npz +3 -0
  45. actions/locomanipulation/LM79/session_020/motions/smplx.npz +3 -0
  46. actions/locomanipulation/LM79/session_020/raw/audio.wav +3 -0
  47. actions/locomanipulation/LM79/session_020/raw/manifest.json +374 -0
  48. actions/locomanipulation/LM79/session_020/raw/mocap/Body0.bvh +3 -0
  49. actions/locomanipulation/LM79/session_020/raw/mocap/Body0.csv +3 -0
  50. actions/locomanipulation/LM79/session_020/raw/mocap/Body0.trc +3 -0
.gitattributes CHANGED
@@ -48046,3 +48046,15 @@ actions/locomanipulation/LM79/session_018/raw/sensors/robowrist_imu_left.db filt
48046
  actions/locomanipulation/LM79/session_018/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
48047
  actions/locomanipulation/LM79/session_018/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
48048
  actions/locomanipulation/LM79/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
48046
  actions/locomanipulation/LM79/session_018/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
48047
  actions/locomanipulation/LM79/session_018/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
48048
  actions/locomanipulation/LM79/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
48049
+ actions/locomanipulation/LM79/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
48050
+ actions/locomanipulation/LM79/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
48051
+ actions/locomanipulation/LM79/session_019/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
48052
+ actions/locomanipulation/LM79/session_019/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
48053
+ actions/locomanipulation/LM79/session_019/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
48054
+ actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
48055
+ actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
48056
+ actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
48057
+ actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
48058
+ actions/locomanipulation/LM79/session_020/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
48059
+ actions/locomanipulation/LM79/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
48060
+ actions/locomanipulation/LM79/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
actions/locomanipulation/LM79/session_019/raw/mocap/Body0.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7fc8f3ea30da7544c4507dcfcc5c922e45e176b4109ad30096dfd4b9d58ddec2
3
+ size 111038221
actions/locomanipulation/LM79/session_019/raw/mocap/Body0.trc ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce03819eaff9393a6c3356d2755399e6b49458b954de1b22f06527ac4bd45600
3
+ size 24194880
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox1.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox1.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox2.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox2.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox3.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox3.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox4.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/LittleBox4.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/Table.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/Table.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/Tracker0.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/mocap/Tracker0.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM79/session_019/raw/sensors/robocap_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e4720905c711e2c021df64418793aaab3d60e83dea0af60570d77f5c8a158861
3
+ size 1159168
actions/locomanipulation/LM79/session_019/raw/sensors/robocap_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f8e84a8f8486274963490bc437bb593fab5f20d5b3794b223b848e4819c2604b
3
+ size 1118208
actions/locomanipulation/LM79/session_019/raw/sensors/robocap_mag_middle.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e936fa275ce875e3db9e2c7e0f704cda903f28c64bbfbe14dba366adaff4313
3
+ size 303104
actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8444cfaa4f1bb042878afac6a5beceff334a0d628cde6648e577941dafe4ae4e
3
+ size 1122304
actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4add29e815beebdfc9f049d590bc4003bd49b634943d6af34ef89541f67813d2
3
+ size 1126400
actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_mag_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1eda6c46380f8daf556d6f113f4a0f099e14cac2627d481139990c3dc22803a1
3
+ size 290816
actions/locomanipulation/LM79/session_019/raw/sensors/robowrist_mag_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f9002ea40a96387ad9b3c2902efd828640c521c7ec1f039727c9cea20bebe1f3
3
+ size 290816
actions/locomanipulation/LM79/session_019/sensors/head_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ded0a2396723b5449ceb9f20a2551655a7c06d078381fbab05f89821cc943962
3
+ size 1220571
actions/locomanipulation/LM79/session_019/sensors/head_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:67ef586b0877641e040718b8911f2b3da28fe71b156c02a43cc03fe9dfedfee6
3
+ size 139579
actions/locomanipulation/LM79/session_019/sensors/wrist_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7a0d4abe67cdee7795c2c87e3d7cafea3c50303aa6d1c1e0efed648ddd730f3c
3
+ size 1279949
actions/locomanipulation/LM79/session_019/sensors/wrist_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:613746838fcbb73c07bc203c3a29c6e2e9972172a93df2c97d2b38c7bae5910f
3
+ size 251771
actions/locomanipulation/LM79/session_019/videos/frame_timestamps.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5a0df274c3b866c1e8537b729a3e76d503bf12c4f616bbb48c4ff40d8723e517
3
+ size 220542
actions/locomanipulation/LM79/session_019/videos/head_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:61dc7d1c331ed88a89eb148abb68fe20d19b6bdb44f0bb04ed3f16c114872ecd
3
+ size 55998490
actions/locomanipulation/LM79/session_019/videos/head_left_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:321bcfabe191b02a6e7a108df6f01da707b5b8fbc736640588daf195da3973a7
3
+ size 55026962
actions/locomanipulation/LM79/session_019/videos/head_left_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f07a41067c4b646b709d0f538a99aea52cf711857616f3faf3ed9b33882f2a33
3
+ size 55952123
actions/locomanipulation/LM79/session_019/videos/head_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c685a44b61580607d32fe9ce0bbe2155de0508ff4c609f48d51db281deba719
3
+ size 55980828
actions/locomanipulation/LM79/session_019/videos/head_right_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93ebf2034400dc0bdb46051515990c356871e2bd47124b08f75a0e4f4ffe0fe3
3
+ size 55965501
actions/locomanipulation/LM79/session_019/videos/head_right_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8d8e73c3a0653eff5d17240bc9e497dae133ea94172b4b43432ae84aaca4e3c
3
+ size 55937936
actions/locomanipulation/LM79/session_019/videos/third_person.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:af9ea85c3f02768aebc13b76e38d0c4e9de9eebb6d36fa8d5a4a517c94c08558
3
+ size 57503838
actions/locomanipulation/LM79/session_019/videos/wrist_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1edf6b7440a653e4870baa1b5bc39bf3625890ccc1407397b51bb658514453b0
3
+ size 49620036
actions/locomanipulation/LM79/session_019/videos/wrist_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:da07a5cd2d5ec9eb63f9c8c1b9f19331bfd209ddc6522d8ccd813f91c5968296
3
+ size 46645199
actions/locomanipulation/LM79/session_020/cameras/poses.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42dca9b5d661dcc0050054d4db741d42310fe04a476adc340e19cc59ff0a4ece
3
+ size 1469156
actions/locomanipulation/LM79/session_020/meta.json ADDED
@@ -0,0 +1,567 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "session": "EgoMotionActions/20261027/LM79/20261027_111253_session67",
4
+ "session_id": "20261027_111253_session67",
5
+ "primitive": "LM79",
6
+ "batch": "20261027",
7
+ "participant": "lvaoshan",
8
+ "participant_source": "manifest",
9
+ "device_ids": {
10
+ "main": "e3296774a321bb51",
11
+ "left": "39042f5fb5da3b12",
12
+ "right": "65a3481473d6e2a0"
13
+ },
14
+ "generated_at_utc": "2026-10-28T19:58:04.853592+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": 168.19166666666666,
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": -0.075453,
29
+ "rate": 0.0,
30
+ "global_lag_s": -0.075,
31
+ "peak_corr": 0.9975,
32
+ "reference_imu_first_sample_s": 11182.691046631,
33
+ "windows": {
34
+ "n_windows": 15,
35
+ "window_corr_median": 0.9979695356224387,
36
+ "drift_ppm": -1.5723957380620135,
37
+ "drift_se_ppm": 2.9102492872391776,
38
+ "drift_ms_over_take": -0.2644507565463963,
39
+ "lag_scatter_ms": 0.4533517054598939,
40
+ "lag_range_ms": 1.759524677627522
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": 33948,
76
+ "n_gyro": 33941,
77
+ "t_start": -0.09192895077762948,
78
+ "t_end": 168.40087309022124
79
+ },
80
+ "imu_head_left": {
81
+ "n_acc": 33780,
82
+ "n_gyro": 33775,
83
+ "t_start": 0.016916354222074756,
84
+ "t_end": 168.56147468022277
85
+ },
86
+ "imu_wrist_right": {
87
+ "n_acc": 34113,
88
+ "n_gyro": 34127,
89
+ "t_start": -0.9060445617772086,
90
+ "t_end": 167.23684547322296
91
+ },
92
+ "imu_wrist_left": {
93
+ "n_acc": 33932,
94
+ "n_gyro": 33932,
95
+ "t_start": -0.9078214367775683,
96
+ "t_end": 167.2327610232212
97
+ },
98
+ "mag_head": {
99
+ "n": 16863,
100
+ "t_start": 0.10847925722259681,
101
+ "t_end": 168.72851087922277
102
+ },
103
+ "mag_wrist_right": {
104
+ "n": 16813,
105
+ "t_start": -0.888011236778085,
106
+ "t_end": 167.2321939662222
107
+ },
108
+ "mag_wrist_left": {
109
+ "n": 16813,
110
+ "t_start": -0.8911917367779563,
111
+ "t_end": 167.22896432322227
112
+ }
113
+ },
114
+ "videos": {
115
+ "left": {
116
+ "fps": 30.0,
117
+ "start_device_s": 11182.804041,
118
+ "frames": 5045,
119
+ "pts_gaps": 0,
120
+ "timing": "pts",
121
+ "timeshift_cam_imu_s": 0.0025546514432425653,
122
+ "file": "robocap_segment1_video_left.mp4",
123
+ "t_start": 0.04009624366403734,
124
+ "t_end": 168.1733522436632,
125
+ "clock": "device",
126
+ "calibrated": true
127
+ },
128
+ "right": {
129
+ "fps": 30.0,
130
+ "start_device_s": 11182.803989,
131
+ "frames": 5045,
132
+ "pts_gaps": 0,
133
+ "timing": "pts",
134
+ "timeshift_cam_imu_s": 0.002366886077403108,
135
+ "file": "robocap_segment1_video_right.mp4",
136
+ "t_start": 0.03985647829972443,
137
+ "t_end": 168.17310047830028,
138
+ "clock": "device",
139
+ "calibrated": true
140
+ },
141
+ "left_front": {
142
+ "fps": 30.0,
143
+ "start_device_s": 11182.804023,
144
+ "frames": 5045,
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": 0.04019646343181087,
150
+ "t_end": 168.17345246343098,
151
+ "clock": "device",
152
+ "calibrated": true
153
+ },
154
+ "right_front": {
155
+ "fps": 30.0,
156
+ "start_device_s": 11182.804054,
157
+ "frames": 5045,
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": 0.04015018671520813,
163
+ "t_end": 168.17340618671437,
164
+ "clock": "device",
165
+ "calibrated": true
166
+ },
167
+ "left_eye": {
168
+ "fps": 60.0,
169
+ "start_device_s": 11182.804007,
170
+ "frames": 4995,
171
+ "pts_gaps": 4994,
172
+ "timing": "pts (gap undecided)",
173
+ "timeshift_cam_imu_s": 0.002394386090989767,
174
+ "gap_test": {
175
+ "pts": {
176
+ "offset_ms": -1.6,
177
+ "corr": 0.918,
178
+ "err_ms": 4.0
179
+ },
180
+ "nominal": {
181
+ "offset_ms": -150.0,
182
+ "corr": -0.118,
183
+ "err_ms": 152.4
184
+ }
185
+ },
186
+ "file": "robocap_segment1_video_left_eye.mp4",
187
+ "t_start": 0.039901978313308814,
188
+ "t_end": 168.17315797831247,
189
+ "clock": "device",
190
+ "calibrated": true
191
+ },
192
+ "right_eye": {
193
+ "fps": 30.0,
194
+ "start_device_s": 11182.803961,
195
+ "frames": 5045,
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": 0.03977724827450295,
201
+ "t_end": 168.17302124827506,
202
+ "clock": "device",
203
+ "calibrated": true
204
+ },
205
+ "wrist_left": {
206
+ "fps": 30.0,
207
+ "start_device_s": 11181.865539,
208
+ "frames": 5043,
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": -0.9009604077775759,
214
+ "t_end": 167.16583659222192,
215
+ "clock": "device",
216
+ "calibrated": false
217
+ },
218
+ "wrist_right": {
219
+ "fps": 30.0,
220
+ "start_device_s": 11181.858339,
221
+ "frames": 5043,
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": -0.9081604077775876,
227
+ "t_end": 167.1587015922221,
228
+ "clock": "device",
229
+ "calibrated": false
230
+ },
231
+ "third_person": {
232
+ "file": "mocap/mocap-LM79-S02-lvaoshan-01p1-1.mp4",
233
+ "frames": 5046,
234
+ "fps": 30.0,
235
+ "clock": "nokov (frame index)",
236
+ "t_start": 0.0,
237
+ "t_end": 168.16666666666666
238
+ }
239
+ }
240
+ },
241
+ "flags": [],
242
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
243
+ "rig_tracker": {
244
+ "definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-93f00a3847c4857b",
245
+ "R_tracker0_imu0": [
246
+ [
247
+ -0.57016615,
248
+ -0.00429909,
249
+ -0.82151815
250
+ ],
251
+ [
252
+ 0.82114036,
253
+ -0.03375366,
254
+ -0.56972731
255
+ ],
256
+ [
257
+ -0.02527994,
258
+ -0.99942094,
259
+ 0.02277535
260
+ ]
261
+ ],
262
+ "p_tracker0_imu0_m": [
263
+ -0.18290401999397488,
264
+ 0.000538694798246742,
265
+ 0.004389651593300958
266
+ ],
267
+ "rig_check": {
268
+ "gyro_samples": 12151,
269
+ "gyro_max_deg": 2.5,
270
+ "status": "video_solve",
271
+ "dropped_marker": null,
272
+ "gyro_deg": 1.853,
273
+ "video_solve": {
274
+ "status": "ok",
275
+ "reason": "",
276
+ "reprojection_px": 3.186,
277
+ "n_assoc": 487,
278
+ "gyro_deg": 1.853
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": "2026-10-28T23:23:50.105237+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
+ 0.9999951019,
291
+ 0.0031298597,
292
+ 1.01836e-05
293
+ ],
294
+ [
295
+ -1.01836e-05,
296
+ 0.0065073133,
297
+ -0.9999788272
298
+ ],
299
+ [
300
+ -0.0031298597,
301
+ 0.9999739291,
302
+ 0.0065073133
303
+ ]
304
+ ],
305
+ "scale_nokov_to_canon": 0.001,
306
+ "T_canon_nokov_mm": [
307
+ [
308
+ 0.000999995102,
309
+ 3.12986e-06,
310
+ 1.0184e-08,
311
+ 0.0
312
+ ],
313
+ [
314
+ -1.0184e-08,
315
+ 6.507313e-06,
316
+ -0.000999978827,
317
+ 0.0
318
+ ],
319
+ [
320
+ -3.12986e-06,
321
+ 0.000999973929,
322
+ 6.507313e-06,
323
+ 0.0
324
+ ],
325
+ [
326
+ 0.0,
327
+ 0.0,
328
+ 0.0,
329
+ 1.0
330
+ ]
331
+ ],
332
+ "block": "20261027-afternoon",
333
+ "block_assignment": "trc",
334
+ "tilt_removed_deg": 0.413729700581665,
335
+ "plane_status": "ok",
336
+ "floor": {
337
+ "sole_marker_p1_mm": 35.7,
338
+ "headtop_p95_mm": 1685.1
339
+ },
340
+ "gravity_check": {
341
+ "static_samples": 670,
342
+ "g_world_mean_m_s2": [
343
+ 0.2996,
344
+ 0.1353,
345
+ 10.044
346
+ ],
347
+ "tilt_from_z_deg": 1.875,
348
+ "tilt_from_z_deg_before_levelling": 1.581,
349
+ "magnitude_m_s2": 10.0494
350
+ },
351
+ "rig_tracker_definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-93f00a3847c4857b",
352
+ "rig_check": {
353
+ "status": "video_solve",
354
+ "dropped_marker": null,
355
+ "gyro_deg": 1.853
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": "2026-10-29T07:41:00.984583+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
+ 0.05556705966591835,
382
+ 0.003176901489496231,
383
+ 0.041185323148965836
384
+ ],
385
+ "LHandOut": [
386
+ 0.07049951702356339,
387
+ 0.022951964288949966,
388
+ -0.006025196053087711
389
+ ],
390
+ "LWristOut": [
391
+ 0.0023372143041342497,
392
+ 0.023429173976182938,
393
+ -0.023025762289762497
394
+ ]
395
+ },
396
+ "right": {
397
+ "RHandIn": [
398
+ -0.057863861322402954,
399
+ 0.016436899080872536,
400
+ 0.029340103268623352
401
+ ],
402
+ "RHandOut": [
403
+ -0.06730224192142487,
404
+ 0.016241375356912613,
405
+ -0.020660197362303734
406
+ ],
407
+ "RWristOut": [
408
+ 0.0043030972592532635,
409
+ 0.016423258930444717,
410
+ -0.029051275923848152
411
+ ]
412
+ }
413
+ }
414
+ },
415
+ "marker_rmse_mm": {
416
+ "median_frame": 6.04,
417
+ "p95_frame": 11.74
418
+ },
419
+ "worst_markers": [
420
+ "WaistRFront 14mm",
421
+ "STRN 13mm",
422
+ "WaistRSide 12mm",
423
+ "RKneeIn 12mm",
424
+ "RKnee 12mm"
425
+ ],
426
+ "valid_fraction": 0.9997,
427
+ "qc": {
428
+ "lowest_vertex_mm": {
429
+ "median": 12.5,
430
+ "p5": 5.8
431
+ },
432
+ "frames_checked": 673,
433
+ "stature_mm": 1659.4
434
+ },
435
+ "surface_term": {
436
+ "weight": 1.0,
437
+ "marker_height_mm": 11.0,
438
+ "markers_on_surface": 52,
439
+ "surface_rmse_mm_median": 13.54
440
+ },
441
+ "shape_source": "participant median",
442
+ "wrist_correction": {
443
+ "left": {
444
+ "status": "corrected",
445
+ "Q_deg": 47.14,
446
+ "Q_rotvec": [
447
+ 0.48113,
448
+ -0.62577,
449
+ 0.23227
450
+ ],
451
+ "in_out_sign": 1,
452
+ "wrist_bend_deg_median": 32.6,
453
+ "opposite_sign_bend_deg": 163.5,
454
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
455
+ "marker_frame_spread_deg": 3.12,
456
+ "hand_vs_marker_frame_deg": {
457
+ "before": 47.54,
458
+ "after": 3.12
459
+ },
460
+ "markers_on_wrist": [
461
+ "LWristOut",
462
+ "LHandIn",
463
+ "LHandOut"
464
+ ],
465
+ "forearm_twist": {
466
+ "twist_moved_deg": 24.84,
467
+ "wrist_twist_deg_after": {
468
+ "median": 0.0,
469
+ "iqr": [
470
+ -7.3,
471
+ 5.0
472
+ ]
473
+ },
474
+ "wrist_total_deg_median_after": 25.0,
475
+ "markers_on_forearm": [
476
+ "LForearm",
477
+ "LWristIn"
478
+ ]
479
+ },
480
+ "frames_used": 1500
481
+ },
482
+ "right": {
483
+ "status": "corrected",
484
+ "Q_deg": 31.81,
485
+ "Q_rotvec": [
486
+ 0.08785,
487
+ 0.47829,
488
+ -0.26792
489
+ ],
490
+ "in_out_sign": 1,
491
+ "wrist_bend_deg_median": 33.1,
492
+ "opposite_sign_bend_deg": 170.3,
493
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
494
+ "marker_frame_spread_deg": 3.01,
495
+ "hand_vs_marker_frame_deg": {
496
+ "before": 31.99,
497
+ "after": 3.01
498
+ },
499
+ "markers_on_wrist": [
500
+ "RWristOut",
501
+ "RHandIn",
502
+ "RHandOut"
503
+ ],
504
+ "forearm_twist": {
505
+ "twist_moved_deg": -15.42,
506
+ "wrist_twist_deg_after": {
507
+ "median": -0.0,
508
+ "iqr": [
509
+ -9.9,
510
+ 3.4
511
+ ]
512
+ },
513
+ "wrist_total_deg_median_after": 28.8,
514
+ "markers_on_forearm": [
515
+ "RForearm",
516
+ "RWristIn"
517
+ ]
518
+ },
519
+ "frames_used": 1500
520
+ },
521
+ "generated_at_utc": "2026-10-29T07:41:04.265598+00:00",
522
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
523
+ }
524
+ },
525
+ "release": {
526
+ "release_path": "actions/locomanipulation/LM79/session_020",
527
+ "family": "locomanipulation",
528
+ "primitive": "LM79",
529
+ "source_session": "20261027/LM79/20261027_111253_session67"
530
+ },
531
+ "task": {
532
+ "primitive": "LM79",
533
+ "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."
534
+ },
535
+ "objects": [
536
+ {
537
+ "name": "LittleBox1",
538
+ "object_type": "LittleBox",
539
+ "source": "mocap",
540
+ "pose_frame": "rigid_body"
541
+ },
542
+ {
543
+ "name": "LittleBox2",
544
+ "object_type": "LittleBox",
545
+ "source": "mocap",
546
+ "pose_frame": "mesh"
547
+ },
548
+ {
549
+ "name": "LittleBox3",
550
+ "object_type": "LittleBox",
551
+ "source": "mocap",
552
+ "pose_frame": "mesh"
553
+ },
554
+ {
555
+ "name": "LittleBox4",
556
+ "object_type": "LittleBox",
557
+ "source": "mocap",
558
+ "pose_frame": "mesh"
559
+ },
560
+ {
561
+ "name": "Table",
562
+ "object_type": "Table",
563
+ "source": "mocap",
564
+ "pose_frame": "rigid_body"
565
+ }
566
+ ]
567
+ }
actions/locomanipulation/LM79/session_020/motions/head_rig.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7fe8a68ce2d73da48019f3463a9131d9247cbefe82f3f9969861b19360c8cf7b
3
+ size 1513592
actions/locomanipulation/LM79/session_020/motions/markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fbe8ab8a9e3ac53a3a6374ee895a9e2eb4ac546de26068cebcde0b8fac1ad654
3
+ size 11713069
actions/locomanipulation/LM79/session_020/motions/object_markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1ef7ae31135ebbfb46bab00a65275e8c5f0f0aa6e28cd2be964fd546223424a
3
+ size 3354762
actions/locomanipulation/LM79/session_020/motions/objects.json ADDED
@@ -0,0 +1,124 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "session": "20261027/LM79/20261027_111253_session67",
3
+ "generated_at_utc": "2026-11-04T19:59:27.692709+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": "LittleBox1",
11
+ "object_type": "LittleBox",
12
+ "source": "mocap",
13
+ "pose_frame": "rigid_body",
14
+ "mesh": null,
15
+ "calibration": null,
16
+ "valid_pct": 94.36,
17
+ "verified_pct": 94.33,
18
+ "moving_pct": 10.89,
19
+ "vision_source": null
20
+ },
21
+ {
22
+ "name": "LittleBox2",
23
+ "object_type": "LittleBox",
24
+ "source": "mocap",
25
+ "pose_frame": "mesh",
26
+ "mesh": "objects/LittleBox/littlebox.ply",
27
+ "calibration": {
28
+ "instance": "LittleBox2",
29
+ "rms_mm": 0.6
30
+ },
31
+ "valid_pct": 99.15,
32
+ "verified_pct": 99.15,
33
+ "moving_pct": 10.46,
34
+ "vision_source": null
35
+ },
36
+ {
37
+ "name": "LittleBox3",
38
+ "object_type": "LittleBox",
39
+ "source": "mocap",
40
+ "pose_frame": "mesh",
41
+ "mesh": "objects/LittleBox/littlebox.ply",
42
+ "calibration": {
43
+ "instance": "LittleBox3",
44
+ "rms_mm": 0.5
45
+ },
46
+ "valid_pct": 98.38,
47
+ "verified_pct": 98.38,
48
+ "moving_pct": 12.73,
49
+ "vision_source": null
50
+ },
51
+ {
52
+ "name": "LittleBox4",
53
+ "object_type": "LittleBox",
54
+ "source": "mocap",
55
+ "pose_frame": "mesh",
56
+ "mesh": "objects/LittleBox/littlebox.ply",
57
+ "calibration": {
58
+ "instance": "LittleBox4",
59
+ "rms_mm": 0.32
60
+ },
61
+ "valid_pct": 99.8,
62
+ "verified_pct": 99.8,
63
+ "moving_pct": 13.88,
64
+ "vision_source": null
65
+ },
66
+ {
67
+ "name": "Table",
68
+ "object_type": "Table",
69
+ "source": "mocap",
70
+ "pose_frame": "rigid_body",
71
+ "mesh": null,
72
+ "calibration": null,
73
+ "valid_pct": 100.0,
74
+ "verified_pct": 100.0,
75
+ "moving_pct": 0.0,
76
+ "vision_source": null
77
+ }
78
+ ],
79
+ "absent": [],
80
+ "object_list": {
81
+ "status": "corrected",
82
+ "notes": [],
83
+ "declared": [
84
+ "LittleBox1",
85
+ "LittleBox2",
86
+ "LittleBox3",
87
+ "LittleBox4",
88
+ "Table0"
89
+ ],
90
+ "listed": [
91
+ {
92
+ "name": "LittleBox1",
93
+ "object": "LittleBox",
94
+ "source": "mocap",
95
+ "needs_video_check": false
96
+ },
97
+ {
98
+ "name": "LittleBox2",
99
+ "object": "LittleBox",
100
+ "source": "mocap",
101
+ "needs_video_check": false
102
+ },
103
+ {
104
+ "name": "LittleBox3",
105
+ "object": "LittleBox",
106
+ "source": "mocap",
107
+ "needs_video_check": false
108
+ },
109
+ {
110
+ "name": "LittleBox4",
111
+ "object": "LittleBox",
112
+ "source": "mocap",
113
+ "needs_video_check": false
114
+ },
115
+ {
116
+ "name": "Table",
117
+ "object": null,
118
+ "source": "mocap",
119
+ "needs_video_check": false
120
+ }
121
+ ]
122
+ },
123
+ "notes": []
124
+ }
actions/locomanipulation/LM79/session_020/motions/objects.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4a1160e9b67ba23c0cd184d88fcdf5a1a9ebdfb4a6e3cd09be84f60afe35bc9f
3
+ size 3840356
actions/locomanipulation/LM79/session_020/motions/skeleton.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4f735302fb494963624c2a396b7cb5b10ee3c9af9ef998325071d8e73033f2a0
3
+ size 11816665
actions/locomanipulation/LM79/session_020/motions/smplx.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c4df5850bdd634bc076ec724fcd72c9087a7c0595889c626603d569a66370b09
3
+ size 7776043
actions/locomanipulation/LM79/session_020/raw/audio.wav ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fb28dd2cc941f1e3f92bc0e74c1e61183aad173416d3deadacedf454f7cca991
3
+ size 32373198
actions/locomanipulation/LM79/session_020/raw/manifest.json ADDED
@@ -0,0 +1,374 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "created_at_utc": "2026-10-27T19:13:08.338174+00:00",
4
+ "primitive_id": "LM79",
5
+ "session_id": "20261027_111253_session67",
6
+ "upload_batch_id": "20261027",
7
+ "dataset_path": "EgoMotionActions/20261027/LM79/20261027_111253_session67",
8
+ "segment": "auto/all",
9
+ "duration_s": 168.133256,
10
+ "device_ids": {
11
+ "main": "e3296774a321bb51",
12
+ "left": "39042f5fb5da3b12",
13
+ "right": "65a3481473d6e2a0"
14
+ },
15
+ "mocap_rigid_names": [
16
+ "Body0",
17
+ "LittleBox1",
18
+ "LittleBox2",
19
+ "LittleBox3",
20
+ "LittleBox4",
21
+ "Table",
22
+ "Tracker0"
23
+ ],
24
+ "objects": [
25
+ "LittleBox1",
26
+ "LittleBox2",
27
+ "LittleBox3",
28
+ "LittleBox4",
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-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-1.mp4",
39
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Body0.bvh",
40
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Body0.csv",
41
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Body0.trc",
42
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox1.csv",
43
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox1.trc",
44
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox2.csv",
45
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox2.trc",
46
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox3.csv",
47
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox3.trc",
48
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox4.csv",
49
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox4.trc",
50
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Table.csv",
51
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Table.trc",
52
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Tracker0.csv",
53
+ "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-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": 32373198,
65
+ "packaged_bytes": 32373198,
66
+ "compressed_video": false,
67
+ "sha256": "fb28dd2cc941f1e3f92bc0e74c1e61183aad173416d3deadacedf454f7cca991"
68
+ },
69
+ {
70
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-1.mp4",
71
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-1.mp4",
72
+ "kind": "video_raw",
73
+ "original_bytes": 86760798,
74
+ "packaged_bytes": 86760798,
75
+ "compressed_video": false,
76
+ "sha256": "73935636324e2a19a702b82a707fc850188d2867b9113ecb5898e203ee19b442"
77
+ },
78
+ {
79
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Body0.bvh",
80
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-Body0.bvh",
81
+ "kind": "data",
82
+ "original_bytes": 12011207,
83
+ "packaged_bytes": 12011207,
84
+ "compressed_video": false,
85
+ "sha256": "6b11dff56abf637bec68990676994c478548f9867733d7a97025c1d19e214d71"
86
+ },
87
+ {
88
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Body0.csv",
89
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-Body0.csv",
90
+ "kind": "data",
91
+ "original_bytes": 168638800,
92
+ "packaged_bytes": 168638800,
93
+ "compressed_video": false,
94
+ "sha256": "9debc9b017329b8b90752748004ba3166feb2bc05bee37f6c54bf84972cfb98b"
95
+ },
96
+ {
97
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Body0.trc",
98
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-Body0.trc",
99
+ "kind": "data",
100
+ "original_bytes": 36382368,
101
+ "packaged_bytes": 36382368,
102
+ "compressed_video": false,
103
+ "sha256": "6f3db7c2d64b6977e80a28d039eca2854bb658b3ec6aaeeaa9f8da34d116d622"
104
+ },
105
+ {
106
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox1.csv",
107
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox1.csv",
108
+ "kind": "data",
109
+ "original_bytes": 6219303,
110
+ "packaged_bytes": 6219303,
111
+ "compressed_video": false,
112
+ "sha256": "eaa5b8df890fc47235ba873161e72f9cacaff1fa6580224ed61eb416d86da569"
113
+ },
114
+ {
115
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox1.trc",
116
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox1.trc",
117
+ "kind": "data",
118
+ "original_bytes": 5710240,
119
+ "packaged_bytes": 5710240,
120
+ "compressed_video": false,
121
+ "sha256": "d9cebce2b374cdf8e16b080d1e7b38e825c069a87c4f6d774fe2d0095966c839"
122
+ },
123
+ {
124
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox2.csv",
125
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox2.csv",
126
+ "kind": "data",
127
+ "original_bytes": 6312713,
128
+ "packaged_bytes": 6312713,
129
+ "compressed_video": false,
130
+ "sha256": "3130c148edbf469b5d333a021678ca9a093b4eec608b34e411f170da49d9f1a1"
131
+ },
132
+ {
133
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox2.trc",
134
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox2.trc",
135
+ "kind": "data",
136
+ "original_bytes": 5985804,
137
+ "packaged_bytes": 5985804,
138
+ "compressed_video": false,
139
+ "sha256": "c4d2279467060f2887e06635225c104c4a094d2998d3c7bbf23d53ec8c0238a2"
140
+ },
141
+ {
142
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox3.csv",
143
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox3.csv",
144
+ "kind": "data",
145
+ "original_bytes": 6309184,
146
+ "packaged_bytes": 6309184,
147
+ "compressed_video": false,
148
+ "sha256": "7ce6236a1d02dc24fad6f573f50c501362685541d9dbd78851728f9413324157"
149
+ },
150
+ {
151
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox3.trc",
152
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox3.trc",
153
+ "kind": "data",
154
+ "original_bytes": 6044033,
155
+ "packaged_bytes": 6044033,
156
+ "compressed_video": false,
157
+ "sha256": "d5beea194fced52a9f82a8153903798a89c0ae3a1d471dde12bc18dc05819766"
158
+ },
159
+ {
160
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox4.csv",
161
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox4.csv",
162
+ "kind": "data",
163
+ "original_bytes": 6295963,
164
+ "packaged_bytes": 6295963,
165
+ "compressed_video": false,
166
+ "sha256": "6c616033d2dbf1c9cb5441764266ef2a1dea30e49ad8aea07607cbb600a23189"
167
+ },
168
+ {
169
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-LittleBox4.trc",
170
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-LittleBox4.trc",
171
+ "kind": "data",
172
+ "original_bytes": 6046858,
173
+ "packaged_bytes": 6046858,
174
+ "compressed_video": false,
175
+ "sha256": "1398d5cc406fcdc4ea34a5a680408c7f722664d244d923c099ca715f2b8360e4"
176
+ },
177
+ {
178
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Table.csv",
179
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-Table.csv",
180
+ "kind": "data",
181
+ "original_bytes": 6074756,
182
+ "packaged_bytes": 6074756,
183
+ "compressed_video": false,
184
+ "sha256": "3e962c0ccb141a99aebf47cabedbdb0641083b7d8bb6efca94d117b870535fa1"
185
+ },
186
+ {
187
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Table.trc",
188
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-Table.trc",
189
+ "kind": "data",
190
+ "original_bytes": 6071753,
191
+ "packaged_bytes": 6071753,
192
+ "compressed_video": false,
193
+ "sha256": "ab360db759b6f91f07e7b9998350f61dc8fa7246b85a1f5f933954ab8e460b96"
194
+ },
195
+ {
196
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Tracker0.csv",
197
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-Tracker0.csv",
198
+ "kind": "data",
199
+ "original_bytes": 6448561,
200
+ "packaged_bytes": 6448561,
201
+ "compressed_video": false,
202
+ "sha256": "7c557a71da241140c1da66d8b433ef92891f6471f26beb1723225cd07c4b6519"
203
+ },
204
+ {
205
+ "source": "mocap-LM79-S02-lvaoshan-01p1/mocap-LM79-S02-lvaoshan-01p1-Tracker0.trc",
206
+ "packaged_as": "mocap/mocap-LM79-S02-lvaoshan-01p1-Tracker0.trc",
207
+ "kind": "data",
208
+ "original_bytes": 6104938,
209
+ "packaged_bytes": 6104938,
210
+ "compressed_video": false,
211
+ "sha256": "54c57289a33ba12c8fd62273efa4c529c1f5d8321b0703ab33c148688c1d89e2"
212
+ },
213
+ {
214
+ "source": "robocap_segment1_imu_left.db",
215
+ "packaged_as": "robocap_segment1_imu_left.db",
216
+ "kind": "data",
217
+ "original_bytes": 1748992,
218
+ "packaged_bytes": 1748992,
219
+ "compressed_video": false,
220
+ "sha256": "645cb6e433b23184fa30fa25cedb6a84f4e23d3ddd831504433ddc11b4cfbf7a"
221
+ },
222
+ {
223
+ "source": "robocap_segment1_imu_right.db",
224
+ "packaged_as": "robocap_segment1_imu_right.db",
225
+ "kind": "data",
226
+ "original_bytes": 1687552,
227
+ "packaged_bytes": 1687552,
228
+ "compressed_video": false,
229
+ "sha256": "19cf4426457f04d8f81c17f2e47aa33a189cbb63e8f5114fb4ea60449a8a7f9c"
230
+ },
231
+ {
232
+ "source": "robocap_segment1_mag_middle.db",
233
+ "packaged_as": "robocap_segment1_mag_middle.db",
234
+ "kind": "data",
235
+ "original_bytes": 446464,
236
+ "packaged_bytes": 446464,
237
+ "compressed_video": false,
238
+ "sha256": "5965812868500208e2c189e3f36759a697cb72f04165d27dc7df9a7861645e51"
239
+ },
240
+ {
241
+ "source": "robocap_segment1_video_left.mp4",
242
+ "packaged_as": "robocap_segment1_video_left.mp4",
243
+ "kind": "video_raw",
244
+ "original_bytes": 84322805,
245
+ "packaged_bytes": 84322805,
246
+ "compressed_video": false,
247
+ "sha256": "d9386f6f7ec97ef51d33e5348f02f77062856f576be4af1368c650176d37f778"
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": 83407180,
254
+ "packaged_bytes": 83407180,
255
+ "compressed_video": false,
256
+ "sha256": "db1da8bcdfb6fc5305f5f61fd7609b4e9f3f19e675ea68292c111dadac265d96"
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": 84265314,
263
+ "packaged_bytes": 84265314,
264
+ "compressed_video": false,
265
+ "sha256": "0654ad52cd033d63918892469eaa6a8a412c6f006ac4b78e4ad074535288f315"
266
+ },
267
+ {
268
+ "source": "robocap_segment1_video_right.mp4",
269
+ "packaged_as": "robocap_segment1_video_right.mp4",
270
+ "kind": "video_raw",
271
+ "original_bytes": 84313727,
272
+ "packaged_bytes": 84313727,
273
+ "compressed_video": false,
274
+ "sha256": "cca093996c227e05b1e895534f98b2ca7c6b03078b7310b724ff882864684263"
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": 84291051,
281
+ "packaged_bytes": 84291051,
282
+ "compressed_video": false,
283
+ "sha256": "cce6c70447c6c823f9e62f2c4dcf31bb74aba0599458b163b3e9022db641096a"
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": 84214466,
290
+ "packaged_bytes": 84214466,
291
+ "compressed_video": false,
292
+ "sha256": "ad5479d6918a37b4f1251e873f7a480fb695b98a108aaeaaa5018ce566514958"
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": 1695744,
299
+ "packaged_bytes": 1695744,
300
+ "compressed_video": false,
301
+ "sha256": "5515f07bb3a7fddf78c0120354e760d3d5de0922c41773c1c8043883488d9ad5"
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": 425984,
308
+ "packaged_bytes": 425984,
309
+ "compressed_video": false,
310
+ "sha256": "4bb051115d3b056ab38bc58c83132cfc0887f53d12f45f162b78f4c7bfc36418"
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": 82585078,
317
+ "packaged_bytes": 82585078,
318
+ "compressed_video": false,
319
+ "sha256": "c8429c4f8fa9b40e13a4154b418530614b8de383e36e6c209696241f369619c2"
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": 1703936,
326
+ "packaged_bytes": 1703936,
327
+ "compressed_video": false,
328
+ "sha256": "4d37be805929dcafeed1bac4713f9a2cbd3be0269ab6dd59641410ddb5f1d8be"
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": 425984,
335
+ "packaged_bytes": 425984,
336
+ "compressed_video": false,
337
+ "sha256": "2fb67c0c1f0ec2b59a979b6a6887f3083f64f4fce53ff38bfc8cb3efe55150b4"
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": 81145269,
344
+ "packaged_bytes": 81145269,
345
+ "compressed_video": false,
346
+ "sha256": "5ec4a01966b7c698a65ce3d011870f121c55cb27741d65b911e506f7c87f001f"
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": 1290889,
353
+ "packaged_bytes": 1290841,
354
+ "compressed_video": false,
355
+ "sha256": "7042ae283978d4e4e3237d2aef179438b48b54dafefc8651dd8b86bc8765ad63"
356
+ }
357
+ ],
358
+ "mocap_capture": {
359
+ "source_directory": "mocap-LM79-S02-lvaoshan-01p1",
360
+ "action_id": "LM79",
361
+ "collection_session_index": 2,
362
+ "participant": "lvaoshan",
363
+ "repetition_count": 1
364
+ },
365
+ "upload_batch_created_at": "2026-10-28T03:44:17.640308+08:00",
366
+ "participant_gender": "female",
367
+ "participant_height_cm": 166,
368
+ "participant_weight_kg": 46,
369
+ "collection_site": {
370
+ "id": "site_00",
371
+ "assignment_method": "env",
372
+ "catalog": "collection_sites.json"
373
+ }
374
+ }
actions/locomanipulation/LM79/session_020/raw/mocap/Body0.bvh ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6b11dff56abf637bec68990676994c478548f9867733d7a97025c1d19e214d71
3
+ size 12011207
actions/locomanipulation/LM79/session_020/raw/mocap/Body0.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9debc9b017329b8b90752748004ba3166feb2bc05bee37f6c54bf84972cfb98b
3
+ size 168638800
actions/locomanipulation/LM79/session_020/raw/mocap/Body0.trc ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f3db7c2d64b6977e80a28d039eca2854bb658b3ec6aaeeaa9f8da34d116d622
3
+ size 36382368