Release update 2026-11-05: new sessions, instructions, annotations (part 6)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +16 -0
- actions/static_manipulation/SM09/session_008/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM09/session_008/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM09/session_008/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM09/session_008/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM09/session_008/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM09/session_008/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM09/session_008/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM09/session_008/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM09/session_008/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM09/session_008/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM09/session_008/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM09/session_008/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM09/session_008/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM09/session_008/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM09/session_008/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM10/session_001/annotations.json +39 -0
- actions/static_manipulation/SM10/session_001/cameras/gsi_online_calibration.json +267 -0
- actions/static_manipulation/SM10/session_001/cameras/slam.npz +3 -0
- actions/static_manipulation/SM10/session_001/meta.json +4 -0
- actions/static_manipulation/SM10/session_001/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM10/session_002/cameras/gsi_online_calibration.json +264 -0
- actions/static_manipulation/SM10/session_002/cameras/slam.npz +3 -0
- actions/static_manipulation/SM10/session_002/meta.json +116 -2
- actions/static_manipulation/SM10/session_002/motions/hands_mano.npz +3 -0
- actions/static_manipulation/SM10/session_002/motions/smplx.npz +2 -2
- actions/static_manipulation/SM10/session_003/cameras/poses.npz +3 -0
- actions/static_manipulation/SM10/session_003/meta.json +556 -0
- actions/static_manipulation/SM10/session_003/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM10/session_003/motions/markers.npz +3 -0
- actions/static_manipulation/SM10/session_003/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM10/session_003/motions/objects.json +168 -0
- actions/static_manipulation/SM10/session_003/motions/objects.npz +3 -0
- actions/static_manipulation/SM10/session_003/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM10/session_003/motions/smplx.npz +3 -0
- actions/static_manipulation/SM10/session_003/raw/audio.wav +3 -0
- actions/static_manipulation/SM10/session_003/raw/manifest.json +418 -0
- actions/static_manipulation/SM10/session_003/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM10/session_003/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM10/session_003/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM10/session_003/raw/mocap/HighRack.csv +0 -0
- actions/static_manipulation/SM10/session_003/raw/mocap/HighRack.trc +0 -0
- actions/static_manipulation/SM10/session_003/raw/mocap/LittleBox1.csv +0 -0
.gitattributes
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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"primitive": "SM10",
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"instruction": "Place the object on the shelf just at the top of your comfortable reach. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 128.966667,
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"video": "left_eye",
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"video_t_start": 0.039202603201162534
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}
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],
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"episodes": [
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{
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"id": "56b31412-46fc-42e1-a0ce-df955b49fb5a",
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"segment": "segment1",
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"action": "SM10",
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"quality": "valid",
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"start_s": 0.519,
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"end_s": 65.185,
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"t_start": 0.5582,
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| 24 |
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"t_end": 65.2242,
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| 25 |
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"instruction": "Place the object on the shelf just at the top of your comfortable reach. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
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},
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{
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| 28 |
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"id": "3e94ff40-ca59-4af9-a654-589e560dc7b4",
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| 29 |
+
"segment": "segment1",
|
| 30 |
+
"action": "SM10",
|
| 31 |
+
"quality": "valid",
|
| 32 |
+
"start_s": 65.185,
|
| 33 |
+
"end_s": 124.757,
|
| 34 |
+
"t_start": 65.2242,
|
| 35 |
+
"t_end": 124.7962,
|
| 36 |
+
"instruction": "Place the object on the shelf just at the top of your comfortable reach. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 37 |
+
}
|
| 38 |
+
]
|
| 39 |
+
}
|
actions/static_manipulation/SM10/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,267 @@
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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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|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
+
{
|
| 5 |
+
"matches": 123,
|
| 6 |
+
"median_px": 330.31,
|
| 7 |
+
"pair": [
|
| 8 |
+
"left_front",
|
| 9 |
+
"right"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"groups_used": 14,
|
| 14 |
+
"median_px": 0.391
|
| 15 |
+
},
|
| 16 |
+
"cameras": {
|
| 17 |
+
"left": {
|
| 18 |
+
"accepted": true,
|
| 19 |
+
"against": [
|
| 20 |
+
"left_front",
|
| 21 |
+
"right_front",
|
| 22 |
+
"left_eye",
|
| 23 |
+
"right_eye",
|
| 24 |
+
"right"
|
| 25 |
+
],
|
| 26 |
+
"delta_deg": 0.9175,
|
| 27 |
+
"gate_fail": [],
|
| 28 |
+
"held_out_px_after": 0.509,
|
| 29 |
+
"held_out_px_before": 4.42,
|
| 30 |
+
"inliers": 2696,
|
| 31 |
+
"position_fitted": false,
|
| 32 |
+
"rotvec_deg": [
|
| 33 |
+
0.3807,
|
| 34 |
+
-0.3696,
|
| 35 |
+
-0.7485
|
| 36 |
+
],
|
| 37 |
+
"split_deg": 0.0691,
|
| 38 |
+
"usable": true
|
| 39 |
+
},
|
| 40 |
+
"left_eye": {
|
| 41 |
+
"accepted": true,
|
| 42 |
+
"against": [
|
| 43 |
+
"left_front",
|
| 44 |
+
"right_front",
|
| 45 |
+
"right_eye",
|
| 46 |
+
"left",
|
| 47 |
+
"right"
|
| 48 |
+
],
|
| 49 |
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"delta_deg": 1.904,
|
| 50 |
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"gate_fail": [],
|
| 51 |
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"held_out_px_after": 0.416,
|
| 52 |
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"held_out_px_before": 6.763,
|
| 53 |
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"inliers": 4711,
|
| 54 |
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"position_fitted": true,
|
| 55 |
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"position_mm": [
|
| 56 |
+
6.02,
|
| 57 |
+
-17.9,
|
| 58 |
+
5.65
|
| 59 |
+
],
|
| 60 |
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"position_sigma_mm": 0.222,
|
| 61 |
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"position_split_mm": 1.7,
|
| 62 |
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"rotvec_deg": [
|
| 63 |
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-0.0524,
|
| 64 |
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0.5346,
|
| 65 |
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-1.8267
|
| 66 |
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],
|
| 67 |
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"split_deg": 0.0383,
|
| 68 |
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"usable": true
|
| 69 |
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},
|
| 70 |
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"left_front": {
|
| 71 |
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"role": "rig origin"
|
| 72 |
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},
|
| 73 |
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"right": {
|
| 74 |
+
"accepted": true,
|
| 75 |
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"against": [
|
| 76 |
+
"right_front",
|
| 77 |
+
"left_eye",
|
| 78 |
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"right_eye",
|
| 79 |
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"left"
|
| 80 |
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],
|
| 81 |
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"delta_deg": 1.2102,
|
| 82 |
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"gate_fail": [],
|
| 83 |
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"held_out_px_after": 0.654,
|
| 84 |
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"held_out_px_before": 3.738,
|
| 85 |
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"inliers": 1489,
|
| 86 |
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"position_fitted": false,
|
| 87 |
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"rotvec_deg": [
|
| 88 |
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1.1252,
|
| 89 |
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-0.3903,
|
| 90 |
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-0.2147
|
| 91 |
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],
|
| 92 |
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"split_deg": 0.1894,
|
| 93 |
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"usable": true
|
| 94 |
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},
|
| 95 |
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"right_eye": {
|
| 96 |
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"accepted": true,
|
| 97 |
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"against": [
|
| 98 |
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"left_front",
|
| 99 |
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"right_front",
|
| 100 |
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"left_eye",
|
| 101 |
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"left",
|
| 102 |
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"right"
|
| 103 |
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],
|
| 104 |
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"delta_deg": 0.6839,
|
| 105 |
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"gate_fail": [],
|
| 106 |
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"held_out_px_after": 0.364,
|
| 107 |
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"held_out_px_before": 3.235,
|
| 108 |
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"inliers": 4799,
|
| 109 |
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"position_fitted": true,
|
| 110 |
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"position_mm": [
|
| 111 |
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7.97,
|
| 112 |
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-18.41,
|
| 113 |
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5.63
|
| 114 |
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],
|
| 115 |
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"position_sigma_mm": 0.208,
|
| 116 |
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"position_split_mm": 0.49,
|
| 117 |
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"rotvec_deg": [
|
| 118 |
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|
| 119 |
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|
| 120 |
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-0.4344
|
| 121 |
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],
|
| 122 |
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"split_deg": 0.0217,
|
| 123 |
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"usable": true
|
| 124 |
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},
|
| 125 |
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"right_front": {
|
| 126 |
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"accepted": true,
|
| 127 |
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"against": [
|
| 128 |
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"left_front",
|
| 129 |
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"left_eye",
|
| 130 |
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"right_eye",
|
| 131 |
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"left",
|
| 132 |
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"right"
|
| 133 |
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],
|
| 134 |
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"delta_deg": 1.3229,
|
| 135 |
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"gate_fail": [],
|
| 136 |
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"held_out_px_after": 0.355,
|
| 137 |
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"held_out_px_before": 4.966,
|
| 138 |
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"inliers": 4027,
|
| 139 |
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"position_fitted": false,
|
| 140 |
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"rotvec_deg": [
|
| 141 |
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|
| 142 |
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-0.0338,
|
| 143 |
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-1.2591
|
| 144 |
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],
|
| 145 |
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"split_deg": 0.0221,
|
| 146 |
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"usable": true
|
| 147 |
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}
|
| 148 |
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},
|
| 149 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 150 |
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"device_id": "e17c9efadb69e7b1",
|
| 151 |
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"factory_root_name": "e17c9efadb69e7b1",
|
| 152 |
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"files": {
|
| 153 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 154 |
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"sha256": "8353037e1c1182b1cff7a767177b748514261d5915a0291a61ce7b491c2381ca",
|
| 155 |
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"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 156 |
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},
|
| 157 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 158 |
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"sha256": "7742e9a456554f7f277b6ef8552a37e3774705229da1ff86af9534f07646b729",
|
| 159 |
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"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 160 |
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},
|
| 161 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 162 |
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"sha256": "e8dee63677644f60ec473ef6de2e7e0c59b639fd0e43c5447967066a85754d91",
|
| 163 |
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|
| 164 |
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},
|
| 165 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 166 |
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"sha256": "9bc8f1e665edf6a62bc1ab69f4ca679825801a35fa5051394ad1c51790145a7b",
|
| 167 |
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"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"input_fingerprint": "1b72a31e92b81172",
|
| 171 |
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"kind": "online_calibration",
|
| 172 |
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"output_sha256": "a6b9c4180fcf766a256eebe2736246112d74717be6b1c2341d0e9aeeecddad1f",
|
| 173 |
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"overlap": {
|
| 174 |
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"left-right": 0.501,
|
| 175 |
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"left_eye-left": 0.707,
|
| 176 |
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"left_eye-right": 0.671,
|
| 177 |
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"left_front-left": 0.478,
|
| 178 |
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"left_front-left_eye": 0.72,
|
| 179 |
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|
| 180 |
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|
| 181 |
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"left_front-right_front": 1.0,
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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"right_front-right_eye": 0.734
|
| 189 |
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},
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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},
|
| 198 |
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| 199 |
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|
| 200 |
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| 201 |
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| 259 |
+
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|
| 260 |
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|
| 261 |
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|
| 262 |
+
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|
| 263 |
+
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|
| 264 |
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]
|
| 265 |
+
},
|
| 266 |
+
"version": 1
|
| 267 |
+
}
|
actions/static_manipulation/SM10/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bcb0e2404614dd94fdc708b452a845584a575faceec498bff551bd420523bfd2
|
| 3 |
+
size 743050
|
actions/static_manipulation/SM10/session_001/meta.json
CHANGED
|
@@ -535,5 +535,9 @@
|
|
| 535 |
"family": "static_manipulation",
|
| 536 |
"primitive": "SM10",
|
| 537 |
"source_session": "20260916/SM10/20260916_014938_session18"
|
|
|
|
|
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|
|
|
|
|
|
|
| 538 |
}
|
| 539 |
}
|
|
|
|
| 535 |
"family": "static_manipulation",
|
| 536 |
"primitive": "SM10",
|
| 537 |
"source_session": "20260916/SM10/20260916_014938_session18"
|
| 538 |
+
},
|
| 539 |
+
"task": {
|
| 540 |
+
"primitive": "SM10",
|
| 541 |
+
"instruction": "Place the object on the shelf just at the top of your comfortable reach. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 542 |
}
|
| 543 |
}
|
actions/static_manipulation/SM10/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b9e6e3ab7d9deed22eb0ee4fe00a9da40363594301afd9a28630314feec68f06
|
| 3 |
+
size 4867162
|
actions/static_manipulation/SM10/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,264 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
+
{
|
| 5 |
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"matches": 70,
|
| 6 |
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"median_px": 673.47,
|
| 7 |
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"pair": [
|
| 8 |
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|
| 9 |
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"right"
|
| 10 |
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]
|
| 11 |
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}
|
| 12 |
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],
|
| 13 |
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"groups_used": 14,
|
| 14 |
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|
| 15 |
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},
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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"against": [
|
| 20 |
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"left_front",
|
| 21 |
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"right_front",
|
| 22 |
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"left_eye",
|
| 23 |
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"right_eye"
|
| 24 |
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],
|
| 25 |
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"delta_deg": 2.3711,
|
| 26 |
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"gate_fail": [],
|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
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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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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
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|
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|
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|
| 52 |
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|
| 53 |
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|
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|
| 55 |
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|
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|
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|
| 58 |
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|
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|
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|
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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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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| 264 |
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actions/static_manipulation/SM10/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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actions/static_manipulation/SM10/session_002/meta.json
CHANGED
|
@@ -384,8 +384,8 @@
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|
| 384 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 385 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 386 |
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|
| 387 |
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"observed":
|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
"left": {
|
|
@@ -534,12 +534,126 @@
|
|
| 534 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 535 |
}
|
| 536 |
},
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| 537 |
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|
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
},
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|
| 543 |
"objects": [
|
| 544 |
{
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| 545 |
"name": "HighRack",
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|
| 384 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 385 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 386 |
"hands": {
|
| 387 |
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"observed": true,
|
| 388 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 389 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 390 |
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|
| 391 |
"left": {
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|
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|
| 534 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 535 |
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|
| 536 |
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|
| 537 |
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|
| 538 |
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"cameras": {},
|
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"median": 8.82,
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"p90": 18.42
|
| 550 |
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},
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"samples": 3680,
|
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"accepted": 3639,
|
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|
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"per_camera": {
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"head": {
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| 556 |
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"samples": 3680,
|
| 557 |
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"accepted": 3639,
|
| 558 |
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"gate_deg": 30.0,
|
| 559 |
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"offset_deg": 13.9,
|
| 560 |
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"tier": "primary",
|
| 561 |
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"dev_deg_median": 8.82,
|
| 562 |
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"wrist_pos_err_mm_median": 98.7
|
| 563 |
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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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"gsi": 16.86,
|
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|
| 576 |
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},
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"hand_marker_to_mesh_mm": {
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| 578 |
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"flat": {
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| 579 |
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"median": 13.7,
|
| 580 |
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"p90": 18.6
|
| 581 |
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},
|
| 582 |
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"registered": {
|
| 583 |
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"median": 12.9,
|
| 584 |
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"p90": 17.4
|
| 585 |
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}
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| 588 |
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"right": {
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"offset_deg": 8.83,
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"dev_deg": {
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| 596 |
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"median": 8.14,
|
| 597 |
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"p90": 15.4
|
| 598 |
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},
|
| 599 |
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"samples": 3683,
|
| 600 |
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"accepted": 3636,
|
| 601 |
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"wrist_pos_err_mm_median": 95.2,
|
| 602 |
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"per_camera": {
|
| 603 |
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"head": {
|
| 604 |
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"samples": 3683,
|
| 605 |
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"accepted": 3636,
|
| 606 |
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|
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|
| 609 |
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|
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}
|
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|
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| 626 |
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|
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|
| 629 |
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| 631 |
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|
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|
| 633 |
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}
|
| 634 |
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|
| 635 |
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}
|
| 636 |
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},
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|
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|
| 639 |
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"cameras_used": [
|
| 640 |
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"head"
|
| 641 |
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],
|
| 642 |
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"generated_at_utc": "2026-11-03T17:34:21.905119+00:00",
|
| 643 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 644 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 645 |
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"wrist_flip_suspect": []
|
| 646 |
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|
| 647 |
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|
| 648 |
"release_path": "actions/static_manipulation/SM10/session_002",
|
| 649 |
"family": "static_manipulation",
|
| 650 |
"primitive": "SM10",
|
| 651 |
"source_session": "20261024/SM10/20261024_120913_session117"
|
| 652 |
},
|
| 653 |
+
"task": {
|
| 654 |
+
"primitive": "SM10",
|
| 655 |
+
"instruction": "Place the object on the shelf just at the top of your comfortable reach. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
| 656 |
+
},
|
| 657 |
"objects": [
|
| 658 |
{
|
| 659 |
"name": "HighRack",
|
actions/static_manipulation/SM10/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 4970658
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actions/static_manipulation/SM10/session_002/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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ADDED
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ADDED
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/SM10/20261027_084651_session19",
|
| 4 |
+
"session_id": "20261027_084651_session19",
|
| 5 |
+
"primitive": "SM10",
|
| 6 |
+
"batch": "20261027",
|
| 7 |
+
"participant": "gaoziyue",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T19:59:45.232187+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": 132.95833333333334,
|
| 22 |
+
"mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
|
| 23 |
+
},
|
| 24 |
+
"alignment": {
|
| 25 |
+
"reference_imu": "imu_head_right",
|
| 26 |
+
"model": "offset (median of windows)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.081559,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9875,
|
| 32 |
+
"reference_imu_first_sample_s": 3982.503301592,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9855290262609577,
|
| 36 |
+
"drift_ppm": -11.29506910309044,
|
| 37 |
+
"drift_se_ppm": 7.887163130637061,
|
| 38 |
+
"drift_ms_over_take": -1.501679437255874,
|
| 39 |
+
"lag_scatter_ms": 0.8609902216656862,
|
| 40 |
+
"lag_range_ms": 3.1496618465218784
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27047,
|
| 76 |
+
"n_gyro": 27041,
|
| 77 |
+
"t_start": -0.09298969415115897,
|
| 78 |
+
"t_end": 133.13572346284852
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26879,
|
| 82 |
+
"n_gyro": 26873,
|
| 83 |
+
"t_start": 0.02280097484887557,
|
| 84 |
+
"t_end": 133.29967665284855
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26243,
|
| 88 |
+
"n_gyro": 26254,
|
| 89 |
+
"t_start": -0.8602875941515169,
|
| 90 |
+
"t_end": 131.64377549784874
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26168,
|
| 94 |
+
"n_gyro": 26168,
|
| 95 |
+
"t_start": -0.8103201351514446,
|
| 96 |
+
"t_end": 131.64355197384882
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13337,
|
| 100 |
+
"t_start": 0.11080263684877246,
|
| 101 |
+
"t_end": 133.47079403284894
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13249,
|
| 105 |
+
"t_start": -0.8418285731513908,
|
| 106 |
+
"t_end": 131.63812700284868
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13245,
|
| 110 |
+
"t_start": -0.8017570051511331,
|
| 111 |
+
"t_end": 131.63785713784907
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 3982.621071,
|
| 118 |
+
"frames": 3988,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03883934049596684,
|
| 124 |
+
"t_end": 132.9387833404962,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 3982.621043,
|
| 131 |
+
"frames": 3988,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03860101946471951,
|
| 137 |
+
"t_end": 132.93854501946495,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 3982.621063,
|
| 144 |
+
"frames": 3988,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.038661851915973613,
|
| 150 |
+
"t_end": 132.93860585191575,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 3982.62108,
|
| 157 |
+
"frames": 3988,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03836198632276756,
|
| 163 |
+
"t_end": 132.9383059863221,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 3982.621054,
|
| 170 |
+
"frames": 3988,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.03899588944520184,
|
| 176 |
+
"t_end": 132.93893988944453,
|
| 177 |
+
"clock": "device",
|
| 178 |
+
"calibrated": true
|
| 179 |
+
},
|
| 180 |
+
"right_eye": {
|
| 181 |
+
"fps": 30.0,
|
| 182 |
+
"start_device_s": 3982.621027,
|
| 183 |
+
"frames": 3988,
|
| 184 |
+
"pts_gaps": 0,
|
| 185 |
+
"timing": "pts",
|
| 186 |
+
"timeshift_cam_imu_s": 0.002930366888236734,
|
| 187 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
+
"t_start": 0.03909727173728862,
|
| 189 |
+
"t_end": 132.93905327173704,
|
| 190 |
+
"clock": "device",
|
| 191 |
+
"calibrated": true
|
| 192 |
+
},
|
| 193 |
+
"wrist_left": {
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"start_device_s": 3981.770851,
|
| 196 |
+
"frames": 3973,
|
| 197 |
+
"pts_gaps": 0,
|
| 198 |
+
"timing": "pts",
|
| 199 |
+
"timeshift_cam_imu_s": null,
|
| 200 |
+
"file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
|
| 201 |
+
"t_start": -0.8140090951510803,
|
| 202 |
+
"t_end": 131.58559990484898,
|
| 203 |
+
"clock": "device",
|
| 204 |
+
"calibrated": false
|
| 205 |
+
},
|
| 206 |
+
"wrist_right": {
|
| 207 |
+
"fps": 30.0,
|
| 208 |
+
"start_device_s": 3981.780896,
|
| 209 |
+
"frames": 3973,
|
| 210 |
+
"pts_gaps": 0,
|
| 211 |
+
"timing": "pts",
|
| 212 |
+
"timeshift_cam_imu_s": null,
|
| 213 |
+
"file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
|
| 214 |
+
"t_start": -0.8039640951510894,
|
| 215 |
+
"t_end": 131.59597090484928,
|
| 216 |
+
"clock": "device",
|
| 217 |
+
"calibrated": false
|
| 218 |
+
},
|
| 219 |
+
"third_person": {
|
| 220 |
+
"file": "mocap/mocap-SM10-S01-gaoziyue-02p1-1.mp4",
|
| 221 |
+
"frames": 3989,
|
| 222 |
+
"fps": 30.0,
|
| 223 |
+
"clock": "nokov (frame index)",
|
| 224 |
+
"t_start": 0.0,
|
| 225 |
+
"t_end": 132.93333333333334
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
+
},
|
| 229 |
+
"flags": [],
|
| 230 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
+
"rig_tracker": {
|
| 232 |
+
"definition": "c9205ac6e17d2d5c/20261027-afternoon/labels-053142/session-36f9d4a73fa908c9",
|
| 233 |
+
"R_tracker0_imu0": [
|
| 234 |
+
[
|
| 235 |
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"primitive": "SM10",
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"instruction": "Place the object on the shelf just at the top of your comfortable reach. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
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actions/static_manipulation/SM10/session_003/motions/object_markers.npz
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| 1 |
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{
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| 2 |
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"session": "20261027/SM10/20261027_084651_session19",
|
| 3 |
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| 4 |
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|
| 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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| 7 |
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"held_by": "from mocap hands",
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| 8 |
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| 9 |
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{
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| 10 |
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| 11 |
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| 12 |
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| 16 |
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| 19 |
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| 20 |
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},
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| 21 |
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{
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| 22 |
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| 23 |
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|
| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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},
|
| 33 |
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{
|
| 34 |
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"name": "LittleBox2",
|
| 35 |
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|
| 36 |
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"source": "mocap",
|
| 37 |
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|
| 38 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 39 |
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|
| 40 |
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| 41 |
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|
| 42 |
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| 43 |
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|
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 57 |
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| 58 |
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| 64 |
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| 66 |
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| 67 |
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| 68 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 69 |
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"calibration": {
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| 70 |
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"instance": "LittleBox4",
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| 71 |
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|
| 72 |
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| 73 |
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| 76 |
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{
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| 94 |
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| 96 |
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| 97 |
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| 98 |
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| 102 |
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| 103 |
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| 107 |
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}
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| 108 |
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],
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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"declared": [
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| 114 |
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"HighRack0",
|
| 115 |
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| 116 |
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| 117 |
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| 121 |
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],
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| 122 |
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"listed": [
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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{
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| 130 |
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"name": "LittleBox1",
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| 131 |
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"object": "LittleBox",
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| 132 |
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"source": "mocap",
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| 133 |
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"needs_video_check": false
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| 134 |
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},
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| 135 |
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{
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| 136 |
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"name": "LittleBox2",
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| 137 |
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"object": "LittleBox",
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| 138 |
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"source": "mocap",
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| 139 |
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"needs_video_check": false
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| 140 |
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},
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| 141 |
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{
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| 142 |
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"name": "LittleBox3",
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| 143 |
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"object": "LittleBox",
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| 144 |
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"source": "mocap",
|
| 145 |
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"needs_video_check": false
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| 146 |
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},
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| 147 |
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{
|
| 148 |
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"name": "LittleBox4",
|
| 149 |
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"object": "LittleBox",
|
| 150 |
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"source": "mocap",
|
| 151 |
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"needs_video_check": false
|
| 152 |
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},
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| 153 |
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{
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| 154 |
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"name": "LittleBox5",
|
| 155 |
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"object": "LittleBox",
|
| 156 |
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"source": "mocap",
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| 157 |
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"needs_video_check": false
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| 158 |
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},
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{
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"name": "LittleBox6",
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"object": "LittleBox",
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"source": "mocap",
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| 163 |
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"needs_video_check": false
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| 164 |
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}
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| 165 |
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]
|
| 166 |
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},
|
| 167 |
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"notes": []
|
| 168 |
+
}
|
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