Mayur1092 commited on
Commit
c0be716
·
verified ·
1 Parent(s): c952938

Release update 2026-11-05: new sessions, instructions, annotations (part 74)

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 +19 -0
  2. actions/locomanipulation/LM51/session_019/raw/mocap/LittleBox5.csv +0 -0
  3. actions/locomanipulation/LM51/session_019/raw/mocap/LittleBox5.trc +0 -0
  4. actions/locomanipulation/LM51/session_019/raw/mocap/Table.csv +0 -0
  5. actions/locomanipulation/LM51/session_019/raw/mocap/Table.trc +0 -0
  6. actions/locomanipulation/LM51/session_019/raw/mocap/Tracker0.csv +0 -0
  7. actions/locomanipulation/LM51/session_019/raw/mocap/Tracker0.trc +0 -0
  8. actions/locomanipulation/LM51/session_019/raw/sensors/robocap_imu_left.db +3 -0
  9. actions/locomanipulation/LM51/session_019/raw/sensors/robocap_imu_right.db +3 -0
  10. actions/locomanipulation/LM51/session_019/raw/sensors/robocap_mag_middle.db +3 -0
  11. actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_imu_left.db +3 -0
  12. actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_imu_right.db +3 -0
  13. actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_mag_left.db +3 -0
  14. actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_mag_right.db +3 -0
  15. actions/locomanipulation/LM51/session_019/sensors/head_imu.npz +3 -0
  16. actions/locomanipulation/LM51/session_019/sensors/head_mag.npz +3 -0
  17. actions/locomanipulation/LM51/session_019/sensors/wrist_imu.npz +3 -0
  18. actions/locomanipulation/LM51/session_019/sensors/wrist_mag.npz +3 -0
  19. actions/locomanipulation/LM51/session_019/videos/frame_timestamps.npz +3 -0
  20. actions/locomanipulation/LM51/session_019/videos/head_left.mp4 +3 -0
  21. actions/locomanipulation/LM51/session_019/videos/head_left_eye.mp4 +3 -0
  22. actions/locomanipulation/LM51/session_019/videos/head_left_front.mp4 +3 -0
  23. actions/locomanipulation/LM51/session_019/videos/head_right.mp4 +3 -0
  24. actions/locomanipulation/LM51/session_019/videos/head_right_eye.mp4 +3 -0
  25. actions/locomanipulation/LM51/session_019/videos/head_right_front.mp4 +3 -0
  26. actions/locomanipulation/LM51/session_019/videos/third_person.mp4 +3 -0
  27. actions/locomanipulation/LM51/session_019/videos/wrist_left.mp4 +3 -0
  28. actions/locomanipulation/LM51/session_019/videos/wrist_right.mp4 +3 -0
  29. actions/locomanipulation/LM51/session_020/cameras/poses.npz +3 -0
  30. actions/locomanipulation/LM51/session_020/meta.json +563 -0
  31. actions/locomanipulation/LM51/session_020/motions/head_rig.npz +3 -0
  32. actions/locomanipulation/LM51/session_020/motions/markers.npz +3 -0
  33. actions/locomanipulation/LM51/session_020/motions/object_markers.npz +3 -0
  34. actions/locomanipulation/LM51/session_020/motions/objects.json +118 -0
  35. actions/locomanipulation/LM51/session_020/motions/objects.npz +3 -0
  36. actions/locomanipulation/LM51/session_020/motions/skeleton.npz +3 -0
  37. actions/locomanipulation/LM51/session_020/motions/smplx.npz +3 -0
  38. actions/locomanipulation/LM51/session_020/raw/audio.wav +3 -0
  39. actions/locomanipulation/LM51/session_020/raw/manifest.json +374 -0
  40. actions/locomanipulation/LM51/session_020/raw/mocap/Body0.bvh +3 -0
  41. actions/locomanipulation/LM51/session_020/raw/mocap/Body0.csv +3 -0
  42. actions/locomanipulation/LM51/session_020/raw/mocap/Body0.trc +3 -0
  43. actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox4.csv +0 -0
  44. actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox4.trc +0 -0
  45. actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox5.csv +0 -0
  46. actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox5.trc +0 -0
  47. actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox6.csv +0 -0
  48. actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox6.trc +0 -0
  49. actions/locomanipulation/LM51/session_020/raw/mocap/Table.csv +0 -0
  50. actions/locomanipulation/LM51/session_020/raw/mocap/Table.trc +0 -0
.gitattributes CHANGED
@@ -46454,3 +46454,22 @@ actions/locomanipulation/LM51/session_018/raw/sensors/robowrist_mag_left.db filt
46454
  actions/locomanipulation/LM51/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
46455
  actions/locomanipulation/LM51/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
46456
  actions/locomanipulation/LM51/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
46454
  actions/locomanipulation/LM51/session_018/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
46455
  actions/locomanipulation/LM51/session_019/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
46456
  actions/locomanipulation/LM51/session_019/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
46457
+ actions/locomanipulation/LM51/session_019/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
46458
+ actions/locomanipulation/LM51/session_019/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
46459
+ actions/locomanipulation/LM51/session_019/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
46460
+ actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
46461
+ actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
46462
+ actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
46463
+ actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
46464
+ actions/locomanipulation/LM51/session_020/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
46465
+ actions/locomanipulation/LM51/session_020/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
46466
+ actions/locomanipulation/LM51/session_020/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
46467
+ actions/locomanipulation/LM51/session_020/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
46468
+ actions/locomanipulation/LM51/session_020/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
46469
+ actions/locomanipulation/LM51/session_020/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
46470
+ actions/locomanipulation/LM51/session_020/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
46471
+ actions/locomanipulation/LM51/session_020/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
46472
+ actions/locomanipulation/LM51/session_020/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
46473
+ actions/locomanipulation/LM51/session_020/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
46474
+ actions/locomanipulation/LM51/session_021/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
46475
+ actions/locomanipulation/LM51/session_021/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
actions/locomanipulation/LM51/session_019/raw/mocap/LittleBox5.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_019/raw/mocap/LittleBox5.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_019/raw/mocap/Table.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_019/raw/mocap/Table.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_019/raw/mocap/Tracker0.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_019/raw/mocap/Tracker0.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_019/raw/sensors/robocap_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3d3d211f57abf1843b27219cd4c104ad7f27b89d10e021bdfd25c96ea55b7ae1
3
+ size 1351680
actions/locomanipulation/LM51/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:fe07327ac5c0848379695e4d74eb9aa09d1584433bca8662fd58c6351efba5f8
3
+ size 1306624
actions/locomanipulation/LM51/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:c8a87b5266e8ff32f0fdfe59e462074a79bb2694a813642ce59f3ee009741e68
3
+ size 348160
actions/locomanipulation/LM51/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:bc0e15f25b7cc0848f9dad686b2efecda44512b58ddabede90bd0de8ad85e688
3
+ size 1302528
actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:53537879ea95186ca874c46d56cbfe31541a6c8786441b499fd58271936d473e
3
+ size 1298432
actions/locomanipulation/LM51/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:f1245709eb205ae2d7256e40bb59a41de9e297973957d90f081f006929f2fe9c
3
+ size 335872
actions/locomanipulation/LM51/session_019/raw/sensors/robowrist_mag_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9046997605194b3b32a5c738e4cb8b9f9040dce6c021b9391cf53829c2a3dc7e
3
+ size 335872
actions/locomanipulation/LM51/session_019/sensors/head_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c409ec5ad9db0a4009b9f1ca23447ca71484ca795854a3cf21c68581dc1f57c
3
+ size 1364523
actions/locomanipulation/LM51/session_019/sensors/head_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:72b48261e092b64e440bc0d96f65aec8cdc3320f8b2535117acdca69e7c9f187
3
+ size 159618
actions/locomanipulation/LM51/session_019/sensors/wrist_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ac9f5aa954751cd344277b99d97305494406a8bb3c654fabeb7b0a0515cdeec
3
+ size 1388931
actions/locomanipulation/LM51/session_019/sensors/wrist_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b5ecafa109a969014b1ed1ac502e2a547ecac27ba227597878a53f50b3f4085e
3
+ size 271021
actions/locomanipulation/LM51/session_019/videos/frame_timestamps.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e6ad089e85270f986425b38943af81f3a054b63c6c6f261cebf8164014d859d0
3
+ size 253625
actions/locomanipulation/LM51/session_019/videos/head_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:55421019b347832ad76ae59a6b7805dc049e624e5d44cad2b24da3edbd4953bd
3
+ size 65145028
actions/locomanipulation/LM51/session_019/videos/head_left_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:00e48ab4311aab59b800bf61313ae8202419a3f30dc750bd23cff912bce361b7
3
+ size 64984328
actions/locomanipulation/LM51/session_019/videos/head_left_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8403bc92e72da8168e1e200422f637e51a19a6d61d6f304a52356414f747b3fd
3
+ size 65095233
actions/locomanipulation/LM51/session_019/videos/head_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eea00e05c5518fbe6d6abd8811841337a6e798cbcc9fbed6099d3a263f166f1c
3
+ size 65110533
actions/locomanipulation/LM51/session_019/videos/head_right_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f631ac19194b15d08bf3afaeb614041545d0a8a286af4e996fc8bed2b600bfd6
3
+ size 65145643
actions/locomanipulation/LM51/session_019/videos/head_right_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:eea1c6dab5672e7a5beda13e1538fd2a59a71c0ef067f11eb21402f9765695cd
3
+ size 65117046
actions/locomanipulation/LM51/session_019/videos/third_person.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f5da0434c5f8c217ad3eebe531f1aefdd55fef739bd2b4900e9df31804cb2a05
3
+ size 43186905
actions/locomanipulation/LM51/session_019/videos/wrist_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68d91c1ce15439d168d2b472e3d0422e3391fb5314a30d6d6050169aa31fb357
3
+ size 38262307
actions/locomanipulation/LM51/session_019/videos/wrist_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:224465fd2e713102b9b21ea29694f1205de49a245322f379c0b67e6576ef6bfd
3
+ size 43442744
actions/locomanipulation/LM51/session_020/cameras/poses.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ef4605252f7bef8f038527aca9f76484b10b0d3309b278a749376fd774e02c2
3
+ size 1325050
actions/locomanipulation/LM51/session_020/meta.json ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "session": "EgoMotionActions/20261031/LM51/20261031_103357_session130",
4
+ "session_id": "20261031_103357_session130",
5
+ "primitive": "LM51",
6
+ "batch": "20261031",
7
+ "participant": "huruoxuan",
8
+ "participant_source": "manifest",
9
+ "device_ids": {
10
+ "main": "c9205ac6e17d2d5c",
11
+ "left": "cc5681142208e29a",
12
+ "right": "a85418f7d807dff9"
13
+ },
14
+ "generated_at_utc": "2026-11-03T05:53:10.624174+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": 151.95833333333334,
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": -0.089882,
29
+ "rate": 0.0,
30
+ "global_lag_s": -0.09,
31
+ "peak_corr": 0.9805,
32
+ "reference_imu_first_sample_s": 34631.968723374,
33
+ "windows": {
34
+ "n_windows": 14,
35
+ "window_corr_median": 0.979600104074003,
36
+ "drift_ppm": -11.536817813117281,
37
+ "drift_se_ppm": 12.971448592640842,
38
+ "drift_ms_over_take": -1.7530194667031709,
39
+ "lag_scatter_ms": 1.8113642186304553,
40
+ "lag_range_ms": 5.523123823886699
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": 30910,
76
+ "n_gyro": 30905,
77
+ "t_start": -0.10131117777545015,
78
+ "t_end": 152.16002047222375
79
+ },
80
+ "imu_head_left": {
81
+ "n_acc": 30720,
82
+ "n_gyro": 30713,
83
+ "t_start": 0.003371158218406972,
84
+ "t_end": 152.32906926321832
85
+ },
86
+ "imu_wrist_right": {
87
+ "n_acc": 29983,
88
+ "n_gyro": 29982,
89
+ "t_start": -0.7865216247771868,
90
+ "t_end": 150.63856904822407
91
+ },
92
+ "imu_wrist_left": {
93
+ "n_acc": 29940,
94
+ "n_gyro": 29954,
95
+ "t_start": -0.943733171781595,
96
+ "t_end": 150.64196104222012
97
+ },
98
+ "mag_head": {
99
+ "n": 15241,
100
+ "t_start": 0.08584895022450936,
101
+ "t_end": 152.4858429392227
102
+ },
103
+ "mag_wrist_right": {
104
+ "n": 15141,
105
+ "t_start": -0.767164727778244,
106
+ "t_end": 150.63280127921846
107
+ },
108
+ "mag_wrist_left": {
109
+ "n": 15158,
110
+ "t_start": -0.9354287387794001,
111
+ "t_end": 150.6346550852215
112
+ }
113
+ },
114
+ "videos": {
115
+ "left": {
116
+ "fps": 30.0,
117
+ "start_device_s": 34632.095096,
118
+ "frames": 4558,
119
+ "pts_gaps": 0,
120
+ "timing": "pts",
121
+ "timeshift_cam_imu_s": 0.0026284356473863946,
122
+ "file": "robocap_segment1_video_left.mp4",
123
+ "t_start": 0.03911887386876614,
124
+ "t_end": 151.93907487386988,
125
+ "clock": "device",
126
+ "calibrated": true
127
+ },
128
+ "right": {
129
+ "fps": 30.0,
130
+ "start_device_s": 34632.095076,
131
+ "frames": 4558,
132
+ "pts_gaps": 0,
133
+ "timing": "pts",
134
+ "timeshift_cam_imu_s": 0.0024181146161434135,
135
+ "file": "robocap_segment1_video_right.mp4",
136
+ "t_start": 0.03888855283386064,
137
+ "t_end": 151.93884455283498,
138
+ "clock": "device",
139
+ "calibrated": true
140
+ },
141
+ "left_front": {
142
+ "fps": 30.0,
143
+ "start_device_s": 34632.09509,
144
+ "frames": 4558,
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": 0.03894338529445221,
150
+ "t_end": 151.93889938529557,
151
+ "clock": "device",
152
+ "calibrated": true
153
+ },
154
+ "right_front": {
155
+ "fps": 30.0,
156
+ "start_device_s": 34632.095103,
157
+ "frames": 4558,
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": 0.038639519694889796,
163
+ "t_end": 151.93860651969246,
164
+ "clock": "device",
165
+ "calibrated": true
166
+ },
167
+ "left_eye": {
168
+ "fps": 30.0,
169
+ "start_device_s": 34632.095084,
170
+ "frames": 4549,
171
+ "pts_gaps": 9,
172
+ "timing": "pts",
173
+ "timeshift_cam_imu_s": 0.002801984596191448,
174
+ "gap_test": {
175
+ "pts": {
176
+ "offset_ms": 66.7,
177
+ "corr": 0.79,
178
+ "err_ms": 63.9
179
+ },
180
+ "nominal": {
181
+ "offset_ms": 150.0,
182
+ "corr": 0.78,
183
+ "err_ms": 147.2
184
+ }
185
+ },
186
+ "file": "robocap_segment1_video_left_eye.mp4",
187
+ "t_start": 0.03928042282151281,
188
+ "t_end": 151.95588042281835,
189
+ "clock": "device",
190
+ "calibrated": true
191
+ },
192
+ "right_eye": {
193
+ "fps": 30.0,
194
+ "start_device_s": 34632.095065,
195
+ "frames": 4558,
196
+ "pts_gaps": 0,
197
+ "timing": "pts",
198
+ "timeshift_cam_imu_s": 0.002930366888236734,
199
+ "file": "robocap_segment1_video_right_eye.mp4",
200
+ "t_start": 0.03938980510812243,
201
+ "t_end": 151.93934580510924,
202
+ "clock": "device",
203
+ "calibrated": true
204
+ },
205
+ "wrist_left": {
206
+ "fps": 30.0,
207
+ "start_device_s": 34631.111116,
208
+ "frames": 4547,
209
+ "pts_gaps": 0,
210
+ "timing": "pts",
211
+ "timeshift_cam_imu_s": null,
212
+ "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
213
+ "t_start": -0.9474895617784468,
214
+ "t_end": 150.58590843822114,
215
+ "clock": "device",
216
+ "calibrated": false
217
+ },
218
+ "wrist_right": {
219
+ "fps": 30.0,
220
+ "start_device_s": 34631.344577,
221
+ "frames": 4540,
222
+ "pts_gaps": 0,
223
+ "timing": "pts",
224
+ "timeshift_cam_imu_s": null,
225
+ "file": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
226
+ "t_start": -0.7140285617750023,
227
+ "t_end": 150.58597143822792,
228
+ "clock": "device",
229
+ "calibrated": false
230
+ },
231
+ "third_person": {
232
+ "file": "mocap/mocap-LM51-S02-huruoxuan-01p1-1.mp4",
233
+ "frames": 4559,
234
+ "fps": 30.0,
235
+ "clock": "nokov (frame index)",
236
+ "t_start": 0.0,
237
+ "t_end": 151.93333333333334
238
+ }
239
+ }
240
+ },
241
+ "flags": [],
242
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
243
+ "rig_tracker": {
244
+ "definition": "c9205ac6e17d2d5c/20261031-afternoon/labels-324501/session-52ff7bfaad060b68",
245
+ "R_tracker0_imu0": [
246
+ [
247
+ -0.62517733,
248
+ 0.36386734,
249
+ -0.69047365
250
+ ],
251
+ [
252
+ 0.77863893,
253
+ 0.23000005,
254
+ -0.58379911
255
+ ],
256
+ [
257
+ -0.05361646,
258
+ -0.90260763,
259
+ -0.42711209
260
+ ]
261
+ ],
262
+ "p_tracker0_imu0_m": [
263
+ 0.013439526888412077,
264
+ 0.006724353302339884,
265
+ -0.007748972120957336
266
+ ],
267
+ "rig_check": {
268
+ "gyro_samples": 8958,
269
+ "gyro_max_deg": 2.5,
270
+ "status": "video_solve",
271
+ "dropped_marker": null,
272
+ "gyro_deg": 1.697,
273
+ "video_solve": {
274
+ "status": "ok",
275
+ "reason": "",
276
+ "reprojection_px": 3.236,
277
+ "n_assoc": 784,
278
+ "gyro_deg": 1.697
279
+ }
280
+ },
281
+ "file": "derived/rig_tracker_provider/rig_tracker.json",
282
+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
283
+ },
284
+ "canonical": {
285
+ "generated_at_utc": "2026-11-03T09:18:08.976767+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
+ 0.9999980753,
291
+ 0.0019619693,
292
+ 8.2636e-06
293
+ ],
294
+ [
295
+ -8.2636e-06,
296
+ 0.0084236237,
297
+ -0.9999645206
298
+ ],
299
+ [
300
+ -0.0019619693,
301
+ 0.9999625959,
302
+ 0.0084236237
303
+ ]
304
+ ],
305
+ "scale_nokov_to_canon": 0.001,
306
+ "T_canon_nokov_mm": [
307
+ [
308
+ 0.000999998075,
309
+ 1.961969e-06,
310
+ 8.264e-09,
311
+ 0.0
312
+ ],
313
+ [
314
+ -8.264e-09,
315
+ 8.423624e-06,
316
+ -0.000999964521,
317
+ 0.0
318
+ ],
319
+ [
320
+ -1.961969e-06,
321
+ 0.000999962596,
322
+ 8.423624e-06,
323
+ 0.0
324
+ ],
325
+ [
326
+ 0.0,
327
+ 0.0,
328
+ 0.0,
329
+ 1.0
330
+ ]
331
+ ],
332
+ "block": "20261031-afternoon",
333
+ "block_assignment": "trc",
334
+ "tilt_removed_deg": 0.4955625379774218,
335
+ "plane_status": "ok",
336
+ "floor": {
337
+ "sole_marker_p1_mm": 43.3,
338
+ "headtop_p95_mm": 1602.6
339
+ },
340
+ "gravity_check": {
341
+ "static_samples": 808,
342
+ "g_world_mean_m_s2": [
343
+ -0.0298,
344
+ 0.0181,
345
+ 9.9001
346
+ ],
347
+ "tilt_from_z_deg": 0.202,
348
+ "tilt_from_z_deg_before_levelling": 0.473,
349
+ "magnitude_m_s2": 9.9002
350
+ },
351
+ "rig_tracker_definition": "c9205ac6e17d2d5c/20261031-afternoon/labels-324501/session-52ff7bfaad060b68",
352
+ "rig_check": {
353
+ "status": "video_solve",
354
+ "dropped_marker": null,
355
+ "gyro_deg": 1.697
356
+ },
357
+ "camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
358
+ "files": [
359
+ "mocap_zup.npz",
360
+ "tracker0_zup.npz",
361
+ "rig_zup.npz",
362
+ "cameras_zup.npz"
363
+ ]
364
+ },
365
+ "smplx": {
366
+ "generated_at_utc": "2026-11-03T12:42:26.575420+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
+ 0.07799528539180756,
382
+ 0.0033195693977177143,
383
+ 0.028609052300453186
384
+ ],
385
+ "LHandOut": [
386
+ 0.05697169527411461,
387
+ 0.02225828543305397,
388
+ -0.025063173845410347
389
+ ],
390
+ "LWristOut": [
391
+ -0.006751937326043844,
392
+ 0.027479080483317375,
393
+ -0.0100548155605793
394
+ ]
395
+ },
396
+ "right": {
397
+ "RHandIn": [
398
+ -0.057024791836738586,
399
+ 0.007426117081195116,
400
+ 0.015379492193460464
401
+ ],
402
+ "RHandOut": [
403
+ -0.0408363975584507,
404
+ 0.03848258778452873,
405
+ -0.023515457287430763
406
+ ],
407
+ "RWristOut": [
408
+ 0.026791144162416458,
409
+ 0.0205055121332407,
410
+ -0.01778370700776577
411
+ ]
412
+ }
413
+ }
414
+ },
415
+ "marker_rmse_mm": {
416
+ "median_frame": 5.15,
417
+ "p95_frame": 12.86
418
+ },
419
+ "worst_markers": [
420
+ "WaistRBack 18mm",
421
+ "WaistLBack 17mm",
422
+ "RElbowIn 13mm",
423
+ "CLAV 11mm",
424
+ "WaistRFront 10mm"
425
+ ],
426
+ "valid_fraction": 1.0,
427
+ "qc": {
428
+ "lowest_vertex_mm": {
429
+ "median": 21.0,
430
+ "p5": 16.2
431
+ },
432
+ "frames_checked": 608,
433
+ "stature_mm": 1572.8
434
+ },
435
+ "surface_term": {
436
+ "weight": 1.0,
437
+ "marker_height_mm": 11.0,
438
+ "markers_on_surface": 52,
439
+ "surface_rmse_mm_median": 13.12
440
+ },
441
+ "shape_source": "participant median",
442
+ "wrist_correction": {
443
+ "left": {
444
+ "status": "corrected",
445
+ "Q_deg": 28.89,
446
+ "Q_rotvec": [
447
+ 0.48088,
448
+ 0.03398,
449
+ 0.14762
450
+ ],
451
+ "in_out_sign": 1,
452
+ "wrist_bend_deg_median": 33.6,
453
+ "opposite_sign_bend_deg": 153.5,
454
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
455
+ "marker_frame_spread_deg": 2.47,
456
+ "hand_vs_marker_frame_deg": {
457
+ "before": 28.92,
458
+ "after": 2.47
459
+ },
460
+ "markers_on_wrist": [
461
+ "LWristOut",
462
+ "LHandIn",
463
+ "LHandOut"
464
+ ],
465
+ "forearm_twist": {
466
+ "twist_moved_deg": 31.2,
467
+ "wrist_twist_deg_after": {
468
+ "median": -0.0,
469
+ "iqr": [
470
+ -6.5,
471
+ 6.4
472
+ ]
473
+ },
474
+ "wrist_total_deg_median_after": 11.6,
475
+ "markers_on_forearm": [
476
+ "LElbow",
477
+ "LElbowIn",
478
+ "LForearm",
479
+ "LWristIn"
480
+ ]
481
+ },
482
+ "frames_used": 1500
483
+ },
484
+ "right": {
485
+ "status": "corrected",
486
+ "Q_deg": 54.87,
487
+ "Q_rotvec": [
488
+ 0.87358,
489
+ 0.09459,
490
+ -0.3809
491
+ ],
492
+ "in_out_sign": 1,
493
+ "wrist_bend_deg_median": 49.5,
494
+ "opposite_sign_bend_deg": 139.1,
495
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
496
+ "marker_frame_spread_deg": 2.68,
497
+ "hand_vs_marker_frame_deg": {
498
+ "before": 54.45,
499
+ "after": 2.68
500
+ },
501
+ "markers_on_wrist": [
502
+ "RWristOut",
503
+ "RHandIn",
504
+ "RHandOut"
505
+ ],
506
+ "forearm_twist": {
507
+ "twist_moved_deg": -48.37,
508
+ "wrist_twist_deg_after": {
509
+ "median": -0.0,
510
+ "iqr": [
511
+ -5.3,
512
+ 6.0
513
+ ]
514
+ },
515
+ "wrist_total_deg_median_after": 13.1,
516
+ "markers_on_forearm": [
517
+ "RForearm",
518
+ "RWristIn"
519
+ ]
520
+ },
521
+ "frames_used": 1500
522
+ },
523
+ "generated_at_utc": "2026-11-03T12:42:29.894869+00:00",
524
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
525
+ }
526
+ },
527
+ "release": {
528
+ "release_path": "actions/locomanipulation/LM51/session_020",
529
+ "family": "locomanipulation",
530
+ "primitive": "LM51",
531
+ "source_session": "20261031/LM51/20261031_103357_session130"
532
+ },
533
+ "task": {
534
+ "primitive": "LM51",
535
+ "instruction": "Take the objects from the bin one at a time and put one in each of the places the operator points out. Keep going until the operator says stop; one object at a time, and do not rush between trips."
536
+ },
537
+ "objects": [
538
+ {
539
+ "name": "LittleBox4",
540
+ "object_type": "LittleBox",
541
+ "source": "mocap",
542
+ "pose_frame": "mesh"
543
+ },
544
+ {
545
+ "name": "LittleBox5",
546
+ "object_type": "LittleBox",
547
+ "source": "mocap",
548
+ "pose_frame": "mesh"
549
+ },
550
+ {
551
+ "name": "LittleBox6",
552
+ "object_type": "LittleBox",
553
+ "source": "mocap",
554
+ "pose_frame": "mesh"
555
+ },
556
+ {
557
+ "name": "Table",
558
+ "object_type": "Table",
559
+ "source": "mocap",
560
+ "pose_frame": "rigid_body"
561
+ }
562
+ ]
563
+ }
actions/locomanipulation/LM51/session_020/motions/head_rig.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1cdc20a1d3acc9fe1200e93319d047420d4e07650911ae5530a22ed4db192089
3
+ size 1357042
actions/locomanipulation/LM51/session_020/motions/markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:10551ece7c2746d993ce5c3e4f8f3e336a9eca23e3e971208a02c42167f089e7
3
+ size 10362098
actions/locomanipulation/LM51/session_020/motions/object_markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1fe0a8ccfccb8791dac7b66d2e1b05f32f28433d77021e47cc4155aadbe08a2e
3
+ size 2333861
actions/locomanipulation/LM51/session_020/motions/objects.json ADDED
@@ -0,0 +1,118 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "session": "20261031/LM51/20261031_103357_session130",
3
+ "generated_at_utc": "2026-11-04T21:08:08.466308+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": "LittleBox4",
11
+ "object_type": "LittleBox",
12
+ "source": "mocap",
13
+ "pose_frame": "mesh",
14
+ "mesh": "objects/LittleBox/littlebox.ply",
15
+ "calibration": {
16
+ "instance": "LittleBox4",
17
+ "rms_mm": 0.55
18
+ },
19
+ "valid_pct": 99.98,
20
+ "verified_pct": 99.98,
21
+ "moving_pct": 15.5,
22
+ "vision_source": null
23
+ },
24
+ {
25
+ "name": "LittleBox5",
26
+ "object_type": "LittleBox",
27
+ "source": "mocap",
28
+ "pose_frame": "mesh",
29
+ "mesh": "objects/LittleBox/littlebox.ply",
30
+ "calibration": {
31
+ "instance": "LittleBox5",
32
+ "rms_mm": 2.54
33
+ },
34
+ "valid_pct": 99.99,
35
+ "verified_pct": 99.99,
36
+ "moving_pct": 21.38,
37
+ "vision_source": null
38
+ },
39
+ {
40
+ "name": "LittleBox6",
41
+ "object_type": "LittleBox",
42
+ "source": "mocap",
43
+ "pose_frame": "mesh",
44
+ "mesh": "objects/LittleBox/littlebox.ply",
45
+ "calibration": {
46
+ "instance": "LittleBox6",
47
+ "rms_mm": 1.68
48
+ },
49
+ "valid_pct": 99.99,
50
+ "verified_pct": 99.99,
51
+ "moving_pct": 16.23,
52
+ "vision_source": null
53
+ },
54
+ {
55
+ "name": "Table",
56
+ "object_type": "Table",
57
+ "source": "mocap",
58
+ "pose_frame": "rigid_body",
59
+ "mesh": null,
60
+ "calibration": null,
61
+ "valid_pct": 99.99,
62
+ "verified_pct": 99.99,
63
+ "moving_pct": 0.0,
64
+ "vision_source": null
65
+ }
66
+ ],
67
+ "absent": [
68
+ {
69
+ "name": "Table2",
70
+ "object_type": "Table",
71
+ "valid_s": 0.0
72
+ }
73
+ ],
74
+ "object_list": {
75
+ "status": "corrected",
76
+ "notes": [],
77
+ "declared": [
78
+ "LittleBox4",
79
+ "LittleBox5",
80
+ "LittleBox6",
81
+ "Table0",
82
+ "Table2"
83
+ ],
84
+ "listed": [
85
+ {
86
+ "name": "LittleBox4",
87
+ "object": "LittleBox",
88
+ "source": "mocap",
89
+ "needs_video_check": false
90
+ },
91
+ {
92
+ "name": "LittleBox5",
93
+ "object": "LittleBox",
94
+ "source": "mocap",
95
+ "needs_video_check": false
96
+ },
97
+ {
98
+ "name": "LittleBox6",
99
+ "object": "LittleBox",
100
+ "source": "mocap",
101
+ "needs_video_check": false
102
+ },
103
+ {
104
+ "name": "Table",
105
+ "object": null,
106
+ "source": "mocap",
107
+ "needs_video_check": false
108
+ },
109
+ {
110
+ "name": "Table2",
111
+ "object": null,
112
+ "source": "mocap",
113
+ "needs_video_check": false
114
+ }
115
+ ]
116
+ },
117
+ "notes": []
118
+ }
actions/locomanipulation/LM51/session_020/motions/objects.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:882c8c2320c1cfa74b7b2057b142c1f2e36b38ac4e03309c671107d6a0c85f33
3
+ size 2910962
actions/locomanipulation/LM51/session_020/motions/skeleton.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8da87dc0d9f018b06e226881bd8a50ea57d634fb61d78eedff4e8e6899de9dca
3
+ size 10556894
actions/locomanipulation/LM51/session_020/motions/smplx.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ce8ded2e33f0af530bf4b428842357f62f8d8b3563b76373e3f6f3cd6ed7866c
3
+ size 7008986
actions/locomanipulation/LM51/session_020/raw/audio.wav ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d55d655acd29549e442f4e59c68adf041fb78d218c265341f52c96ee8be33d1d
3
+ size 29262798
actions/locomanipulation/LM51/session_020/raw/manifest.json ADDED
@@ -0,0 +1,374 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "created_at_utc": "2026-11-01T04:59:43.440054+00:00",
4
+ "primitive_id": "LM51",
5
+ "session_id": "20261031_103357_session130",
6
+ "upload_batch_id": "20261031",
7
+ "dataset_path": "EgoMotionActions/20261031/LM51/20261031_103357_session130",
8
+ "segment": "auto/all",
9
+ "duration_s": 151.899956,
10
+ "device_ids": {
11
+ "main": "c9205ac6e17d2d5c",
12
+ "left": "cc5681142208e29a",
13
+ "right": "a85418f7d807dff9"
14
+ },
15
+ "mocap_rigid_names": [
16
+ "Body0",
17
+ "LittleBox4",
18
+ "LittleBox5",
19
+ "LittleBox6",
20
+ "Table",
21
+ "Table2",
22
+ "Tracker0"
23
+ ],
24
+ "objects": [
25
+ "LittleBox4",
26
+ "LittleBox5",
27
+ "LittleBox6",
28
+ "Table0",
29
+ "Table2"
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-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-1.mp4",
39
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Body0.bvh",
40
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Body0.csv",
41
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Body0.trc",
42
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox4.csv",
43
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox4.trc",
44
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox5.csv",
45
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox5.trc",
46
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox6.csv",
47
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox6.trc",
48
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table.csv",
49
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table.trc",
50
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table2.csv",
51
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table2.trc",
52
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Tracker0.csv",
53
+ "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-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": 29262798,
65
+ "packaged_bytes": 29262798,
66
+ "compressed_video": false,
67
+ "sha256": "d55d655acd29549e442f4e59c68adf041fb78d218c265341f52c96ee8be33d1d"
68
+ },
69
+ {
70
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-1.mp4",
71
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-1.mp4",
72
+ "kind": "video_raw",
73
+ "original_bytes": 44939050,
74
+ "packaged_bytes": 44939050,
75
+ "compressed_video": false,
76
+ "sha256": "97c152397434850d824d6a0593e0446c22f9f4918278e49ff9357c3e2ea338d0"
77
+ },
78
+ {
79
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Body0.bvh",
80
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Body0.bvh",
81
+ "kind": "data",
82
+ "original_bytes": 10961745,
83
+ "packaged_bytes": 10961745,
84
+ "compressed_video": false,
85
+ "sha256": "e2b39356117fabda6e6181d79c552ebf919d37b0cacb26049910d49729c1d4b0"
86
+ },
87
+ {
88
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Body0.csv",
89
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Body0.csv",
90
+ "kind": "data",
91
+ "original_bytes": 152615720,
92
+ "packaged_bytes": 152615720,
93
+ "compressed_video": false,
94
+ "sha256": "8646775a69f54856f4979baacc3258c8d09ad3cacb986783e5146fa9843d6595"
95
+ },
96
+ {
97
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Body0.trc",
98
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Body0.trc",
99
+ "kind": "data",
100
+ "original_bytes": 33988217,
101
+ "packaged_bytes": 33988217,
102
+ "compressed_video": false,
103
+ "sha256": "9ebaea65591fcbec9db36a0d5ebe76ec71a9711abd0eb1a915796783a53f3d61"
104
+ },
105
+ {
106
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox4.csv",
107
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-LittleBox4.csv",
108
+ "kind": "data",
109
+ "original_bytes": 5645828,
110
+ "packaged_bytes": 5645828,
111
+ "compressed_video": false,
112
+ "sha256": "fd6d20ea0ff4231fd8e7bbffaec080c375013bd0c207ef1e95c606374580a86c"
113
+ },
114
+ {
115
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox4.trc",
116
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-LittleBox4.trc",
117
+ "kind": "data",
118
+ "original_bytes": 5517635,
119
+ "packaged_bytes": 5517635,
120
+ "compressed_video": false,
121
+ "sha256": "e3dc3756b74272fa12e4cb7d15f99bbbdc50e93c5d60543af95d8c56ed5aea13"
122
+ },
123
+ {
124
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox5.csv",
125
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-LittleBox5.csv",
126
+ "kind": "data",
127
+ "original_bytes": 5676995,
128
+ "packaged_bytes": 5676995,
129
+ "compressed_video": false,
130
+ "sha256": "a2aef2010f7dfbee2cc5cbb43d3b353c77619265e226307d14036279b7541481"
131
+ },
132
+ {
133
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox5.trc",
134
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-LittleBox5.trc",
135
+ "kind": "data",
136
+ "original_bytes": 5572744,
137
+ "packaged_bytes": 5572744,
138
+ "compressed_video": false,
139
+ "sha256": "769fd667bf6bd0604151dbd84c0190bc6c3dfdeea2cb2d28edaae65e7896a82b"
140
+ },
141
+ {
142
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox6.csv",
143
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-LittleBox6.csv",
144
+ "kind": "data",
145
+ "original_bytes": 5667946,
146
+ "packaged_bytes": 5667946,
147
+ "compressed_video": false,
148
+ "sha256": "7fbf55f106e5666bbf7ddb7faae4279779ad819105025a23cee58fbd90129311"
149
+ },
150
+ {
151
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-LittleBox6.trc",
152
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-LittleBox6.trc",
153
+ "kind": "data",
154
+ "original_bytes": 5517906,
155
+ "packaged_bytes": 5517906,
156
+ "compressed_video": false,
157
+ "sha256": "4baba8e78db423d38c948b2f9d1f6297de0cc4dc5440c7857f2d8994847fb842"
158
+ },
159
+ {
160
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table.csv",
161
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Table.csv",
162
+ "kind": "data",
163
+ "original_bytes": 5555846,
164
+ "packaged_bytes": 5555846,
165
+ "compressed_video": false,
166
+ "sha256": "2d0956aa5ae3a240c5896fa7036acb52d0ef92123c1a08a94cf4eced0fcd6fc7"
167
+ },
168
+ {
169
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table.trc",
170
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Table.trc",
171
+ "kind": "data",
172
+ "original_bytes": 5629346,
173
+ "packaged_bytes": 5629346,
174
+ "compressed_video": false,
175
+ "sha256": "8612fee2ff152db91be8948e6a865b71d1973f128d029071201a16f020832e24"
176
+ },
177
+ {
178
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table2.csv",
179
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Table2.csv",
180
+ "kind": "data",
181
+ "original_bytes": 4730867,
182
+ "packaged_bytes": 4730867,
183
+ "compressed_video": false,
184
+ "sha256": "ecf9449486865f43885a8e5cfdd0f4208b0319a5e76e74f850f812c78bbc835f"
185
+ },
186
+ {
187
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Table2.trc",
188
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Table2.trc",
189
+ "kind": "data",
190
+ "original_bytes": 523164,
191
+ "packaged_bytes": 523164,
192
+ "compressed_video": false,
193
+ "sha256": "7e264e48b01ee13a6e795ee0c57c27f204a678e878ff0442a84f2f3fbd018f31"
194
+ },
195
+ {
196
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Tracker0.csv",
197
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Tracker0.csv",
198
+ "kind": "data",
199
+ "original_bytes": 5856698,
200
+ "packaged_bytes": 5856698,
201
+ "compressed_video": false,
202
+ "sha256": "0610b40d9ccdb7442568c04d770b5e5113048875f79f5d110fda9de1ae814add"
203
+ },
204
+ {
205
+ "source": "mocap-LM51-S02-huruoxuan-01p1/mocap-LM51-S02-huruoxuan-01p1-Tracker0.trc",
206
+ "packaged_as": "mocap/mocap-LM51-S02-huruoxuan-01p1-Tracker0.trc",
207
+ "kind": "data",
208
+ "original_bytes": 5681238,
209
+ "packaged_bytes": 5681238,
210
+ "compressed_video": false,
211
+ "sha256": "0397f45d390561c6d9ceb126e10b7283c5ec0c5982ad49f5e669a9848ff757ec"
212
+ },
213
+ {
214
+ "source": "robocap_segment1_imu_left.db",
215
+ "packaged_as": "robocap_segment1_imu_left.db",
216
+ "kind": "data",
217
+ "original_bytes": 1589248,
218
+ "packaged_bytes": 1589248,
219
+ "compressed_video": false,
220
+ "sha256": "663169eef4e1e2af5cb8debea5c0c71c64f37e02d4450c05f7b51fadc8a2537d"
221
+ },
222
+ {
223
+ "source": "robocap_segment1_imu_right.db",
224
+ "packaged_as": "robocap_segment1_imu_right.db",
225
+ "kind": "data",
226
+ "original_bytes": 1540096,
227
+ "packaged_bytes": 1540096,
228
+ "compressed_video": false,
229
+ "sha256": "a12d37bc3ad1d337f1ee8a8fd668632345c8ddff34245fce11fe9200005909b9"
230
+ },
231
+ {
232
+ "source": "robocap_segment1_mag_middle.db",
233
+ "packaged_as": "robocap_segment1_mag_middle.db",
234
+ "kind": "data",
235
+ "original_bytes": 405504,
236
+ "packaged_bytes": 405504,
237
+ "compressed_video": false,
238
+ "sha256": "592934b01253a6e3c848ed515ec96eaed3efe3013bba854bb74c6cd67234b9b6"
239
+ },
240
+ {
241
+ "source": "robocap_segment1_video_left.mp4",
242
+ "packaged_as": "robocap_segment1_video_left.mp4",
243
+ "kind": "video_raw",
244
+ "original_bytes": 76032228,
245
+ "packaged_bytes": 76032228,
246
+ "compressed_video": false,
247
+ "sha256": "375e5f33da6d54c5a117a7ac4fa63f4e90bcb4c8172a6face9555d43ad17f754"
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": 75884634,
254
+ "packaged_bytes": 75884634,
255
+ "compressed_video": false,
256
+ "sha256": "8e4471dfa65b7408cd182ee2bab26745649440c13dde2818adb117a229fa2c04"
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": 76099642,
263
+ "packaged_bytes": 76099642,
264
+ "compressed_video": false,
265
+ "sha256": "41103319879e7e8c6f2cc9f45c6d8241f2e096f6d06a08984fb343e86f6522f8"
266
+ },
267
+ {
268
+ "source": "robocap_segment1_video_right.mp4",
269
+ "packaged_as": "robocap_segment1_video_right.mp4",
270
+ "kind": "video_raw",
271
+ "original_bytes": 76067222,
272
+ "packaged_bytes": 76067222,
273
+ "compressed_video": false,
274
+ "sha256": "5aac79f53cbe30c44cb8cb4cc7f12cdf53475393a655dce93c9e85a4f21908d9"
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": 75989656,
281
+ "packaged_bytes": 75989656,
282
+ "compressed_video": false,
283
+ "sha256": "b8580a9aacd65face1cec4703f041ac708898fe44702c57bd443f8c539b4fbbe"
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": 76093293,
290
+ "packaged_bytes": 76093293,
291
+ "compressed_video": false,
292
+ "sha256": "51fa68497843dcb133d2bca36cb4804901ace4e04fcbe02cda0f0592038329f7"
293
+ },
294
+ {
295
+ "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
296
+ "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_imu_right.db",
297
+ "kind": "data",
298
+ "original_bytes": 1495040,
299
+ "packaged_bytes": 1495040,
300
+ "compressed_video": false,
301
+ "sha256": "b38700b366887d603ed50666777b63f1324bd3b24753d3512591fd90cc5a963a"
302
+ },
303
+ {
304
+ "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
305
+ "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_mag_right.db",
306
+ "kind": "data",
307
+ "original_bytes": 389120,
308
+ "packaged_bytes": 389120,
309
+ "compressed_video": false,
310
+ "sha256": "40856eb2d5874057f1c48bab63e5d0997378e686dd9b8d7f2388bf0c39b69e1a"
311
+ },
312
+ {
313
+ "source": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
314
+ "packaged_as": "robowrist_a85418f7d807dff9_right/robowrist_segment1_video_right_down.mp4",
315
+ "kind": "video_raw",
316
+ "original_bytes": 57104536,
317
+ "packaged_bytes": 57104536,
318
+ "compressed_video": false,
319
+ "sha256": "f9ea7877a1ef0b89d30c996563fb4203e934251968177534a0a28e4b986b3e43"
320
+ },
321
+ {
322
+ "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
323
+ "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_imu_left.db",
324
+ "kind": "data",
325
+ "original_bytes": 1495040,
326
+ "packaged_bytes": 1495040,
327
+ "compressed_video": false,
328
+ "sha256": "1b237442d6284316bc3613ad38bf5085c6d66c84296fbc3f1adffcbb968d7b58"
329
+ },
330
+ {
331
+ "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
332
+ "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_mag_left.db",
333
+ "kind": "data",
334
+ "original_bytes": 389120,
335
+ "packaged_bytes": 389120,
336
+ "compressed_video": false,
337
+ "sha256": "3a095e5f03c5134176634353ddac78d9b45a262e968729d9b6e65730c4b42387"
338
+ },
339
+ {
340
+ "source": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
341
+ "packaged_as": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
342
+ "kind": "video_raw",
343
+ "original_bytes": 58332799,
344
+ "packaged_bytes": 58332799,
345
+ "compressed_video": false,
346
+ "sha256": "2b31a3908ad1120a129064bb36172c04036c614cd7f0296cc400b4688e6d7477"
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": 5150290,
353
+ "packaged_bytes": 5150247,
354
+ "compressed_video": false,
355
+ "sha256": "515dd6ccf736ccaeb7bbb8334db62295510b30930d4c8dcad9d8019eb6239262"
356
+ }
357
+ ],
358
+ "mocap_capture": {
359
+ "source_directory": "mocap-LM51-S02-huruoxuan-01p1",
360
+ "action_id": "LM51",
361
+ "collection_session_index": 2,
362
+ "participant": "huruoxuan",
363
+ "repetition_count": 1
364
+ },
365
+ "upload_batch_created_at": "2026-11-01T13:21:56.471973+08:00",
366
+ "participant_gender": "female",
367
+ "participant_height_cm": 160,
368
+ "participant_weight_kg": 40,
369
+ "collection_site": {
370
+ "id": "site_01",
371
+ "assignment_method": "env",
372
+ "catalog": "collection_sites.json"
373
+ }
374
+ }
actions/locomanipulation/LM51/session_020/raw/mocap/Body0.bvh ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e2b39356117fabda6e6181d79c552ebf919d37b0cacb26049910d49729c1d4b0
3
+ size 10961745
actions/locomanipulation/LM51/session_020/raw/mocap/Body0.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8646775a69f54856f4979baacc3258c8d09ad3cacb986783e5146fa9843d6595
3
+ size 152615720
actions/locomanipulation/LM51/session_020/raw/mocap/Body0.trc ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9ebaea65591fcbec9db36a0d5ebe76ec71a9711abd0eb1a915796783a53f3d61
3
+ size 33988217
actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox4.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox4.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox5.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox5.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox6.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_020/raw/mocap/LittleBox6.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_020/raw/mocap/Table.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM51/session_020/raw/mocap/Table.trc ADDED
The diff for this file is too large to render. See raw diff