Mayur1092 commited on
Commit
c330dee
·
verified ·
1 Parent(s): e71f643

Release update 2026-11-05: new sessions, instructions, annotations (part 63)

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 +17 -0
  2. actions/locomanipulation/LM49/session_014/raw/mocap/LittleBox6.trc +0 -0
  3. actions/locomanipulation/LM49/session_014/raw/mocap/Table.csv +0 -0
  4. actions/locomanipulation/LM49/session_014/raw/mocap/Table.trc +0 -0
  5. actions/locomanipulation/LM49/session_014/raw/mocap/Tracker0.csv +0 -0
  6. actions/locomanipulation/LM49/session_014/raw/mocap/Tracker0.trc +0 -0
  7. actions/locomanipulation/LM49/session_014/raw/sensors/robocap_imu_left.db +3 -0
  8. actions/locomanipulation/LM49/session_014/raw/sensors/robocap_imu_right.db +3 -0
  9. actions/locomanipulation/LM49/session_014/raw/sensors/robocap_mag_middle.db +3 -0
  10. actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_imu_left.db +3 -0
  11. actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_imu_right.db +3 -0
  12. actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_mag_left.db +3 -0
  13. actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_mag_right.db +3 -0
  14. actions/locomanipulation/LM49/session_014/sensors/head_imu.npz +3 -0
  15. actions/locomanipulation/LM49/session_014/sensors/head_mag.npz +3 -0
  16. actions/locomanipulation/LM49/session_014/sensors/wrist_imu.npz +3 -0
  17. actions/locomanipulation/LM49/session_014/sensors/wrist_mag.npz +3 -0
  18. actions/locomanipulation/LM49/session_014/videos/frame_timestamps.npz +3 -0
  19. actions/locomanipulation/LM49/session_014/videos/head_left.mp4 +3 -0
  20. actions/locomanipulation/LM49/session_014/videos/head_left_eye.mp4 +3 -0
  21. actions/locomanipulation/LM49/session_014/videos/head_left_front.mp4 +3 -0
  22. actions/locomanipulation/LM49/session_014/videos/head_right.mp4 +3 -0
  23. actions/locomanipulation/LM49/session_014/videos/head_right_eye.mp4 +3 -0
  24. actions/locomanipulation/LM49/session_014/videos/head_right_front.mp4 +3 -0
  25. actions/locomanipulation/LM49/session_014/videos/third_person.mp4 +3 -0
  26. actions/locomanipulation/LM49/session_014/videos/wrist_left.mp4 +3 -0
  27. actions/locomanipulation/LM49/session_014/videos/wrist_right.mp4 +3 -0
  28. actions/locomanipulation/LM49/session_015/cameras/poses.npz +3 -0
  29. actions/locomanipulation/LM49/session_015/meta.json +567 -0
  30. actions/locomanipulation/LM49/session_015/motions/head_rig.npz +3 -0
  31. actions/locomanipulation/LM49/session_015/motions/markers.npz +3 -0
  32. actions/locomanipulation/LM49/session_015/motions/object_markers.npz +3 -0
  33. actions/locomanipulation/LM49/session_015/motions/objects.json +124 -0
  34. actions/locomanipulation/LM49/session_015/motions/objects.npz +3 -0
  35. actions/locomanipulation/LM49/session_015/motions/skeleton.npz +3 -0
  36. actions/locomanipulation/LM49/session_015/motions/smplx.npz +3 -0
  37. actions/locomanipulation/LM49/session_015/raw/audio.wav +3 -0
  38. actions/locomanipulation/LM49/session_015/raw/manifest.json +374 -0
  39. actions/locomanipulation/LM49/session_015/raw/mocap/BigBox2.csv +0 -0
  40. actions/locomanipulation/LM49/session_015/raw/mocap/BigBox2.trc +0 -0
  41. actions/locomanipulation/LM49/session_015/raw/mocap/Body0.bvh +3 -0
  42. actions/locomanipulation/LM49/session_015/raw/mocap/Body0.csv +3 -0
  43. actions/locomanipulation/LM49/session_015/raw/mocap/Body0.trc +3 -0
  44. actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox3.csv +0 -0
  45. actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox3.trc +0 -0
  46. actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox4.csv +0 -0
  47. actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox4.trc +0 -0
  48. actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox6.csv +0 -0
  49. actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox6.trc +0 -0
  50. actions/locomanipulation/LM49/session_015/raw/mocap/Table.csv +0 -0
.gitattributes CHANGED
@@ -46292,3 +46292,20 @@ actions/locomanipulation/LM49/session_013/raw/sensors/robowrist_mag_left.db filt
46292
  actions/locomanipulation/LM49/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
46293
  actions/locomanipulation/LM49/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
46294
  actions/locomanipulation/LM49/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
46292
  actions/locomanipulation/LM49/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
46293
  actions/locomanipulation/LM49/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
46294
  actions/locomanipulation/LM49/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
46295
+ actions/locomanipulation/LM49/session_014/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
46296
+ actions/locomanipulation/LM49/session_014/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
46297
+ actions/locomanipulation/LM49/session_014/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
46298
+ actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
46299
+ actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
46300
+ actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
46301
+ actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
46302
+ actions/locomanipulation/LM49/session_015/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
46303
+ actions/locomanipulation/LM49/session_015/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
46304
+ actions/locomanipulation/LM49/session_015/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
46305
+ actions/locomanipulation/LM49/session_015/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
46306
+ actions/locomanipulation/LM49/session_015/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
46307
+ actions/locomanipulation/LM49/session_015/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
46308
+ actions/locomanipulation/LM49/session_015/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
46309
+ actions/locomanipulation/LM49/session_015/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
46310
+ actions/locomanipulation/LM49/session_015/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
46311
+ actions/locomanipulation/LM49/session_015/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
actions/locomanipulation/LM49/session_014/raw/mocap/LittleBox6.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_014/raw/mocap/Table.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_014/raw/mocap/Table.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_014/raw/mocap/Tracker0.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_014/raw/mocap/Tracker0.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_014/raw/sensors/robocap_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c12af00f8fff313a200ce30c4d873f5420e0b1d778b7f994562754bfa9e436d
3
+ size 1445888
actions/locomanipulation/LM49/session_014/raw/sensors/robocap_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:62b7ea9dceadf253ce84c0dc72c80a892dc6fa5cdbf2ba434d843f0ceb70c75b
3
+ size 1396736
actions/locomanipulation/LM49/session_014/raw/sensors/robocap_mag_middle.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:570928dc7faef213f38ce677d86b3e357e35931de25ee4f456db1544d3728734
3
+ size 372736
actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_imu_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:668c7312e0a6c0ff1af5e4d4767fee9193066d524c5ffabdcd9166afabcc2155
3
+ size 1400832
actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_imu_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3f6434d842ac427ef16f9967134d28401a1d08febcea770d62c25c250446fe8a
3
+ size 1409024
actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_mag_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b2758ab10a30c24de67e1b1af6dd4ad7ac31700630e9286066ddd6bb3e35473e
3
+ size 356352
actions/locomanipulation/LM49/session_014/raw/sensors/robowrist_mag_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aaa7ce49b02ef619bccb6485628c0a096d5246b77d1f17dd057d98f9f18ba2bd
3
+ size 356352
actions/locomanipulation/LM49/session_014/sensors/head_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:aca549d87a27337003f47bf460e694eea40335f94b74e7d14847e88eccb47231
3
+ size 1580191
actions/locomanipulation/LM49/session_014/sensors/head_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2b9a0dc9306267d6b7f3a352c61eabab14b6e632556e6bbe2b6a956aecc7fcec
3
+ size 176841
actions/locomanipulation/LM49/session_014/sensors/wrist_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc82cf51e84fa7b01c4f37f3620756ab96942c0065957e9b0e0bf73886ac6641
3
+ size 1653233
actions/locomanipulation/LM49/session_014/sensors/wrist_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:46ad069d2110e3531e231672d1a5918bab2eaca264ab3f03ce83900f34d894f2
3
+ size 323264
actions/locomanipulation/LM49/session_014/videos/frame_timestamps.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:363f04fc487d22c733c24d57cd29a270b442062170abc12cfdf37c3924c7e32c
3
+ size 275184
actions/locomanipulation/LM49/session_014/videos/head_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:287326b28a3a9db81b21f85d12cce65c3d6775328c599b91a412b091f92e4fe3
3
+ size 69602350
actions/locomanipulation/LM49/session_014/videos/head_left_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:352a08e1704cb3b099bfe8f0d9fb9340485a697c6d7199c350ef4c1f5cc05587
3
+ size 69445192
actions/locomanipulation/LM49/session_014/videos/head_left_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ec88dea74380cc72db795f92830888aa03fc0930fb429acb3b40ef499dc2016f
3
+ size 69615448
actions/locomanipulation/LM49/session_014/videos/head_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6c4f206fc9dd2670c8acb2bb52f7cc5dd913690a850bdfa2630fccb115f53741
3
+ size 69632805
actions/locomanipulation/LM49/session_014/videos/head_right_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e98dbd4616e3633803bf3664ca1fcab1447ddcbeebe3fc3496db9a404a4a904f
3
+ size 69612498
actions/locomanipulation/LM49/session_014/videos/head_right_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0c0280486e19e4888ffc5383396301158eef0f00cf2b8942bc2bb35faf64c69a
3
+ size 69669598
actions/locomanipulation/LM49/session_014/videos/third_person.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f2145894685f3342a219bd20ad31462cc5ad3819b2742fc409655bd8d77ee0e5
3
+ size 70162010
actions/locomanipulation/LM49/session_014/videos/wrist_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fe23d4896b0cb16fdf9528a2eaf8db2373152ecbe8a86ac546a7acc1143c63d
3
+ size 60303135
actions/locomanipulation/LM49/session_014/videos/wrist_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:baa8aef329a8636362f886640994a00ac38dfb34cb6be16ebb0b16ffa588c6fa
3
+ size 60730488
actions/locomanipulation/LM49/session_015/cameras/poses.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ddd280b279ade768ac9302b3d4a3c9812449d4485b3131f4fb79a909644f840
3
+ size 1407089
actions/locomanipulation/LM49/session_015/meta.json ADDED
@@ -0,0 +1,567 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "session": "EgoMotionActions/20261029/LM49/20261029_092922_session26",
4
+ "session_id": "20261029_092922_session26",
5
+ "primitive": "LM49",
6
+ "batch": "20261029",
7
+ "participant": "lvaoshan",
8
+ "participant_source": "manifest",
9
+ "device_ids": {
10
+ "main": "e3296774a321bb51",
11
+ "left": "39042f5fb5da3b12",
12
+ "right": "65a3481473d6e2a0"
13
+ },
14
+ "generated_at_utc": "2026-10-30T07:38:43.777786+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": 161.19166666666666,
22
+ "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
23
+ },
24
+ "alignment": {
25
+ "reference_imu": "imu_head_right",
26
+ "model": "offset (median of windows)",
27
+ "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
28
+ "offset_s": -0.088473,
29
+ "rate": 0.0,
30
+ "global_lag_s": -0.09,
31
+ "peak_corr": 0.9978,
32
+ "reference_imu_first_sample_s": 4854.905799164,
33
+ "windows": {
34
+ "n_windows": 15,
35
+ "window_corr_median": 0.9983327585021254,
36
+ "drift_ppm": -1.153056911533002,
37
+ "drift_se_ppm": 1.3281426506185134,
38
+ "drift_ms_over_take": -0.18585355652392774,
39
+ "lag_scatter_ms": 0.20689490016957518,
40
+ "lag_range_ms": 0.7331649984882171
41
+ }
42
+ },
43
+ "units": {
44
+ "mocap": "millimetres, Nokov world, Y-up (unchanged)",
45
+ "y_up_to_z_up": [
46
+ [
47
+ 1.0,
48
+ 0.0,
49
+ 0.0
50
+ ],
51
+ [
52
+ 0.0,
53
+ 0.0,
54
+ -1.0
55
+ ],
56
+ [
57
+ 0.0,
58
+ 1.0,
59
+ 0.0
60
+ ]
61
+ ],
62
+ "acc": "m/s^2 (8192 LSB/g)",
63
+ "gyro": "rad/s (65.536 LSB/dps)",
64
+ "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
65
+ "quaternions": "xyzw, Nokov global"
66
+ },
67
+ "calibration": {
68
+ "device": "e3296774a321bb51",
69
+ "status": "ok",
70
+ "date": "2026-10-21"
71
+ },
72
+ "streams": {
73
+ "sensors": {
74
+ "imu_head_right": {
75
+ "n_acc": 32533,
76
+ "n_gyro": 32527,
77
+ "t_start": -0.10034825596608452,
78
+ "t_end": 161.3726762600338
79
+ },
80
+ "imu_head_left": {
81
+ "n_acc": 32374,
82
+ "n_gyro": 32368,
83
+ "t_start": 0.009402994033960305,
84
+ "t_end": 161.5406084290346
85
+ },
86
+ "imu_wrist_right": {
87
+ "n_acc": 32724,
88
+ "n_gyro": 32723,
89
+ "t_start": -0.8603343349657301,
90
+ "t_end": 160.4430438350339
91
+ },
92
+ "imu_wrist_left": {
93
+ "n_acc": 32542,
94
+ "n_gyro": 32542,
95
+ "t_start": -0.8158174069656091,
96
+ "t_end": 160.44418582403455
97
+ },
98
+ "mag_head": {
99
+ "n": 16162,
100
+ "t_start": 0.09459066103431515,
101
+ "t_end": 161.70458353003437
102
+ },
103
+ "mag_wrist_right": {
104
+ "n": 16129,
105
+ "t_start": -0.8425514179659807,
106
+ "t_end": 160.4380842220346
107
+ },
108
+ "mag_wrist_left": {
109
+ "n": 16126,
110
+ "t_start": -0.7990090329656162,
111
+ "t_end": 160.4507592410339
112
+ }
113
+ },
114
+ "videos": {
115
+ "left": {
116
+ "fps": 30.0,
117
+ "start_device_s": 4855.031444,
118
+ "frames": 4835,
119
+ "pts_gaps": 0,
120
+ "timing": "pts",
121
+ "timeshift_cam_imu_s": 0.0025546514432425653,
122
+ "file": "robocap_segment1_video_left.mp4",
123
+ "t_start": 0.03972662347791603,
124
+ "t_end": 161.17305962347768,
125
+ "clock": "device",
126
+ "calibrated": true
127
+ },
128
+ "right": {
129
+ "fps": 30.0,
130
+ "start_device_s": 4855.031427,
131
+ "frames": 4835,
132
+ "pts_gaps": 0,
133
+ "timing": "pts",
134
+ "timeshift_cam_imu_s": 0.002366886077403108,
135
+ "file": "robocap_segment1_video_right.mp4",
136
+ "t_start": 0.039521858111809444,
137
+ "t_end": 161.17285485811158,
138
+ "clock": "device",
139
+ "calibrated": true
140
+ },
141
+ "left_front": {
142
+ "fps": 30.0,
143
+ "start_device_s": 4855.031439,
144
+ "frames": 4835,
145
+ "pts_gaps": 0,
146
+ "timing": "pts",
147
+ "timeshift_cam_imu_s": 0.0026728712083183277,
148
+ "file": "robocap_segment1_video_left_front.mp4",
149
+ "t_start": 0.03983984324281456,
150
+ "t_end": 161.17317284324258,
151
+ "clock": "device",
152
+ "calibrated": true
153
+ },
154
+ "right_front": {
155
+ "fps": 30.0,
156
+ "start_device_s": 4855.03145,
157
+ "frames": 4835,
158
+ "pts_gaps": 0,
159
+ "timing": "pts",
160
+ "timeshift_cam_imu_s": 0.002595594493655556,
161
+ "file": "robocap_segment1_video_right_front.mp4",
162
+ "t_start": 0.03977356652853606,
163
+ "t_end": 161.1731065665283,
164
+ "clock": "device",
165
+ "calibrated": true
166
+ },
167
+ "left_eye": {
168
+ "fps": 30.0,
169
+ "start_device_s": 4855.031433,
170
+ "frames": 4831,
171
+ "pts_gaps": 4,
172
+ "timing": "pts",
173
+ "timeshift_cam_imu_s": 0.002394386090989767,
174
+ "gap_test": {
175
+ "pts": {
176
+ "offset_ms": -10.5,
177
+ "corr": 0.916,
178
+ "err_ms": 12.9
179
+ },
180
+ "nominal": {
181
+ "offset_ms": 52.5,
182
+ "corr": 0.913,
183
+ "err_ms": 50.1
184
+ }
185
+ },
186
+ "file": "robocap_segment1_video_left_eye.mp4",
187
+ "t_start": 0.03955535812496938,
188
+ "t_end": 161.1895553581246,
189
+ "clock": "device",
190
+ "calibrated": true
191
+ },
192
+ "right_eye": {
193
+ "fps": 30.0,
194
+ "start_device_s": 4855.031418,
195
+ "frames": 4835,
196
+ "pts_gaps": 0,
197
+ "timing": "pts",
198
+ "timeshift_cam_imu_s": 0.002315656053021164,
199
+ "file": "robocap_segment1_video_right_eye.mp4",
200
+ "t_start": 0.03946162808665368,
201
+ "t_end": 161.17279462808642,
202
+ "clock": "device",
203
+ "calibrated": true
204
+ },
205
+ "wrist_left": {
206
+ "fps": 30.0,
207
+ "start_device_s": 4854.17565,
208
+ "frames": 4837,
209
+ "pts_gaps": 0,
210
+ "timing": "pts",
211
+ "timeshift_cam_imu_s": null,
212
+ "file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
213
+ "t_start": -0.8186220279656048,
214
+ "t_end": 160.38111797203442,
215
+ "clock": "device",
216
+ "calibrated": false
217
+ },
218
+ "wrist_right": {
219
+ "fps": 30.0,
220
+ "start_device_s": 4854.158111,
221
+ "frames": 4837,
222
+ "pts_gaps": 0,
223
+ "timing": "pts",
224
+ "timeshift_cam_imu_s": null,
225
+ "file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
226
+ "t_start": -0.836161027966002,
227
+ "t_end": 160.3644899720341,
228
+ "clock": "device",
229
+ "calibrated": false
230
+ },
231
+ "third_person": {
232
+ "file": "mocap/mocap-LM49-S02-lvaoshan-01p1-1.mp4",
233
+ "frames": 4836,
234
+ "fps": 30.0,
235
+ "clock": "nokov (frame index)",
236
+ "t_start": 0.0,
237
+ "t_end": 161.16666666666666
238
+ }
239
+ }
240
+ },
241
+ "flags": [],
242
+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
243
+ "rig_tracker": {
244
+ "definition": "e3296774a321bb51/20261029-afternoon/labels-410235/session-dc5d3287f1c6c329",
245
+ "R_tracker0_imu0": [
246
+ [
247
+ -0.64898836,
248
+ 0.18528424,
249
+ -0.73789149
250
+ ],
251
+ [
252
+ 0.73823944,
253
+ -0.08106532,
254
+ -0.66964986
255
+ ],
256
+ [
257
+ -0.18389298,
258
+ -0.97933557,
259
+ -0.08417368
260
+ ]
261
+ ],
262
+ "p_tracker0_imu0_m": [
263
+ -0.03731334506967476,
264
+ -0.018623844588573,
265
+ -0.08696423944748972
266
+ ],
267
+ "rig_check": {
268
+ "gyro_samples": 10852,
269
+ "gyro_max_deg": 2.5,
270
+ "status": "video_solve",
271
+ "dropped_marker": null,
272
+ "gyro_deg": 2.044,
273
+ "video_solve": {
274
+ "status": "ok",
275
+ "reason": "",
276
+ "reprojection_px": 3.032,
277
+ "n_assoc": 762,
278
+ "gyro_deg": 2.044
279
+ }
280
+ },
281
+ "file": "derived/rig_tracker_provider/rig_tracker.json",
282
+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
283
+ },
284
+ "canonical": {
285
+ "generated_at_utc": "2026-11-03T09:17:27.331884+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
+ 0.9999956317,
291
+ 0.0029557594,
292
+ -5.102e-07
293
+ ],
294
+ [
295
+ 5.102e-07,
296
+ -0.0003452029,
297
+ -0.9999999404
298
+ ],
299
+ [
300
+ -0.0029557594,
301
+ 0.9999955722,
302
+ -0.0003452029
303
+ ]
304
+ ],
305
+ "scale_nokov_to_canon": 0.001,
306
+ "T_canon_nokov_mm": [
307
+ [
308
+ 0.000999995632,
309
+ 2.955759e-06,
310
+ -5.1e-10,
311
+ 0.0
312
+ ],
313
+ [
314
+ 5.1e-10,
315
+ -3.45203e-07,
316
+ -0.00099999994,
317
+ 0.0
318
+ ],
319
+ [
320
+ -2.955759e-06,
321
+ 0.000999995572,
322
+ -3.45203e-07,
323
+ 0.0
324
+ ],
325
+ [
326
+ 0.0,
327
+ 0.0,
328
+ 0.0,
329
+ 1.0
330
+ ]
331
+ ],
332
+ "block": "20261029-afternoon",
333
+ "block_assignment": "trc",
334
+ "tilt_removed_deg": 0.17050385347658925,
335
+ "plane_status": "ok",
336
+ "floor": {
337
+ "sole_marker_p1_mm": 44.6,
338
+ "headtop_p95_mm": 1687.9
339
+ },
340
+ "gravity_check": {
341
+ "static_samples": 623,
342
+ "g_world_mean_m_s2": [
343
+ -0.0724,
344
+ -0.0176,
345
+ 9.7349
346
+ ],
347
+ "tilt_from_z_deg": 0.439,
348
+ "tilt_from_z_deg_before_levelling": 0.602,
349
+ "magnitude_m_s2": 9.7352
350
+ },
351
+ "rig_tracker_definition": "e3296774a321bb51/20261029-afternoon/labels-410235/session-dc5d3287f1c6c329",
352
+ "rig_check": {
353
+ "status": "video_solve",
354
+ "dropped_marker": null,
355
+ "gyro_deg": 2.044
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": "2026-11-02T17:52:20.562331+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
+ 0.07039473205804825,
382
+ 0.008838840760290623,
383
+ -0.027433108538389206
384
+ ],
385
+ "LHandOut": [
386
+ 0.07545884698629379,
387
+ 0.010393425822257996,
388
+ 0.015710558742284775
389
+ ],
390
+ "LWristIn": [
391
+ -0.0055811586789786816,
392
+ -0.0002927377645391971,
393
+ -0.030628228560090065
394
+ ]
395
+ },
396
+ "right": {
397
+ "RHandIn": [
398
+ -0.058352142572402954,
399
+ 0.014242331497371197,
400
+ 0.03311149775981903
401
+ ],
402
+ "RHandOut": [
403
+ -0.06215327978134155,
404
+ 0.024202650412917137,
405
+ -0.014145029708743095
406
+ ],
407
+ "RWristOut": [
408
+ 0.00040763773722574115,
409
+ 0.02733851782977581,
410
+ -0.026710450649261475
411
+ ]
412
+ }
413
+ }
414
+ },
415
+ "marker_rmse_mm": {
416
+ "median_frame": 4.18,
417
+ "p95_frame": 6.03
418
+ },
419
+ "worst_markers": [
420
+ "RThigh 8mm",
421
+ "RKneeIn 8mm",
422
+ "RElbowIn 7mm",
423
+ "LElbowIn 7mm",
424
+ "LKneeIn 7mm"
425
+ ],
426
+ "valid_fraction": 0.9996,
427
+ "qc": {
428
+ "lowest_vertex_mm": {
429
+ "median": 14.0,
430
+ "p5": 9.9
431
+ },
432
+ "frames_checked": 645,
433
+ "stature_mm": 1659.4
434
+ },
435
+ "surface_term": {
436
+ "weight": 1.0,
437
+ "marker_height_mm": 11.0,
438
+ "markers_on_surface": 52,
439
+ "surface_rmse_mm_median": 12.46
440
+ },
441
+ "shape_source": "participant median",
442
+ "wrist_correction": {
443
+ "left": {
444
+ "status": "corrected",
445
+ "Q_deg": 178.9,
446
+ "Q_rotvec": [
447
+ -3.05534,
448
+ 0.01093,
449
+ 0.64344
450
+ ],
451
+ "in_out_sign": 1,
452
+ "wrist_bend_deg_median": 124.5,
453
+ "opposite_sign_bend_deg": 69.8,
454
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
455
+ "marker_frame_spread_deg": 3.34,
456
+ "hand_vs_marker_frame_deg": {
457
+ "before": 178.5,
458
+ "after": 3.34
459
+ },
460
+ "markers_on_wrist": [
461
+ "LWristIn",
462
+ "LHandIn",
463
+ "LHandOut"
464
+ ],
465
+ "forearm_twist": {
466
+ "twist_moved_deg": -120.86,
467
+ "wrist_twist_deg_after": {
468
+ "median": 0.0,
469
+ "iqr": [
470
+ -5.1,
471
+ 10.1
472
+ ]
473
+ },
474
+ "wrist_total_deg_median_after": 34.6,
475
+ "markers_on_forearm": [
476
+ "LForearm",
477
+ "LWristOut"
478
+ ]
479
+ },
480
+ "frames_used": 1500
481
+ },
482
+ "right": {
483
+ "status": "corrected",
484
+ "Q_deg": 32.52,
485
+ "Q_rotvec": [
486
+ 0.3154,
487
+ 0.39172,
488
+ -0.263
489
+ ],
490
+ "in_out_sign": 1,
491
+ "wrist_bend_deg_median": 54.6,
492
+ "opposite_sign_bend_deg": 153.6,
493
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
494
+ "marker_frame_spread_deg": 2.09,
495
+ "hand_vs_marker_frame_deg": {
496
+ "before": 32.42,
497
+ "after": 2.09
498
+ },
499
+ "markers_on_wrist": [
500
+ "RWristOut",
501
+ "RHandIn",
502
+ "RHandOut"
503
+ ],
504
+ "forearm_twist": {
505
+ "twist_moved_deg": -40.89,
506
+ "wrist_twist_deg_after": {
507
+ "median": -0.0,
508
+ "iqr": [
509
+ -6.1,
510
+ 6.3
511
+ ]
512
+ },
513
+ "wrist_total_deg_median_after": 38.6,
514
+ "markers_on_forearm": [
515
+ "RForearm",
516
+ "RWristIn"
517
+ ]
518
+ },
519
+ "frames_used": 1500
520
+ },
521
+ "generated_at_utc": "2026-11-02T17:52:24.020508+00:00",
522
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
523
+ }
524
+ },
525
+ "release": {
526
+ "release_path": "actions/locomanipulation/LM49/session_015",
527
+ "family": "locomanipulation",
528
+ "primitive": "LM49",
529
+ "source_session": "20261029/LM49/20261029_092922_session26"
530
+ },
531
+ "task": {
532
+ "primitive": "LM49",
533
+ "instruction": "Pick up both objects, carry them together, then put each one in a different place. Keep going until the operator says stop; one object at a time, and do not rush between trips."
534
+ },
535
+ "objects": [
536
+ {
537
+ "name": "BigBox2",
538
+ "object_type": "BigBox",
539
+ "source": "mocap",
540
+ "pose_frame": "rigid_body"
541
+ },
542
+ {
543
+ "name": "LittleBox3",
544
+ "object_type": "LittleBox",
545
+ "source": "mocap",
546
+ "pose_frame": "mesh"
547
+ },
548
+ {
549
+ "name": "LittleBox4",
550
+ "object_type": "LittleBox",
551
+ "source": "mocap",
552
+ "pose_frame": "mesh"
553
+ },
554
+ {
555
+ "name": "LittleBox6",
556
+ "object_type": "LittleBox",
557
+ "source": "mocap",
558
+ "pose_frame": "mesh"
559
+ },
560
+ {
561
+ "name": "Table",
562
+ "object_type": "Table",
563
+ "source": "mocap",
564
+ "pose_frame": "rigid_body"
565
+ }
566
+ ]
567
+ }
actions/locomanipulation/LM49/session_015/motions/head_rig.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0eec0c0f195447538db72b84a9c0564f9ce8e09312ac415de15c672a403d651
3
+ size 1452046
actions/locomanipulation/LM49/session_015/motions/markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bdc2e0459c964be3aa51b91b7f49966a41d3117e7200e78fdc67fe8fbcd4487f
3
+ size 11268710
actions/locomanipulation/LM49/session_015/motions/object_markers.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d2685bf0d97719c262e74bf83dff59bccab793948e2d8f9f377f35f304da4d2
3
+ size 3431621
actions/locomanipulation/LM49/session_015/motions/objects.json ADDED
@@ -0,0 +1,124 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "session": "20261029/LM49/20261029_092922_session26",
3
+ "generated_at_utc": "2026-11-04T20:37:01.548451+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": "BigBox2",
11
+ "object_type": "BigBox",
12
+ "source": "mocap",
13
+ "pose_frame": "rigid_body",
14
+ "mesh": null,
15
+ "calibration": null,
16
+ "valid_pct": 99.99,
17
+ "verified_pct": 99.99,
18
+ "moving_pct": 1.99,
19
+ "vision_source": null
20
+ },
21
+ {
22
+ "name": "LittleBox3",
23
+ "object_type": "LittleBox",
24
+ "source": "mocap",
25
+ "pose_frame": "mesh",
26
+ "mesh": "objects/LittleBox/littlebox.ply",
27
+ "calibration": {
28
+ "instance": "LittleBox3",
29
+ "rms_mm": 0.38
30
+ },
31
+ "valid_pct": 99.99,
32
+ "verified_pct": 99.99,
33
+ "moving_pct": 2.85,
34
+ "vision_source": null
35
+ },
36
+ {
37
+ "name": "LittleBox4",
38
+ "object_type": "LittleBox",
39
+ "source": "mocap",
40
+ "pose_frame": "mesh",
41
+ "mesh": "objects/LittleBox/littlebox.ply",
42
+ "calibration": {
43
+ "instance": "LittleBox4",
44
+ "rms_mm": 0.38
45
+ },
46
+ "valid_pct": 91.02,
47
+ "verified_pct": 91.02,
48
+ "moving_pct": 57.8,
49
+ "vision_source": null
50
+ },
51
+ {
52
+ "name": "LittleBox6",
53
+ "object_type": "LittleBox",
54
+ "source": "mocap",
55
+ "pose_frame": "mesh",
56
+ "mesh": "objects/LittleBox/littlebox.ply",
57
+ "calibration": {
58
+ "instance": "LittleBox6",
59
+ "rms_mm": 1.76
60
+ },
61
+ "valid_pct": 90.88,
62
+ "verified_pct": 90.88,
63
+ "moving_pct": 39.06,
64
+ "vision_source": null
65
+ },
66
+ {
67
+ "name": "Table",
68
+ "object_type": "Table",
69
+ "source": "mocap",
70
+ "pose_frame": "rigid_body",
71
+ "mesh": null,
72
+ "calibration": null,
73
+ "valid_pct": 99.99,
74
+ "verified_pct": 99.99,
75
+ "moving_pct": 0.0,
76
+ "vision_source": null
77
+ }
78
+ ],
79
+ "absent": [],
80
+ "object_list": {
81
+ "status": "corrected",
82
+ "notes": [],
83
+ "declared": [
84
+ "BigBox2",
85
+ "LittleBox3",
86
+ "LittleBox4",
87
+ "LittleBox6",
88
+ "Table0"
89
+ ],
90
+ "listed": [
91
+ {
92
+ "name": "BigBox2",
93
+ "object": "BigBox",
94
+ "source": "mocap",
95
+ "needs_video_check": false
96
+ },
97
+ {
98
+ "name": "LittleBox3",
99
+ "object": "LittleBox",
100
+ "source": "mocap",
101
+ "needs_video_check": false
102
+ },
103
+ {
104
+ "name": "LittleBox4",
105
+ "object": "LittleBox",
106
+ "source": "mocap",
107
+ "needs_video_check": false
108
+ },
109
+ {
110
+ "name": "LittleBox6",
111
+ "object": "LittleBox",
112
+ "source": "mocap",
113
+ "needs_video_check": false
114
+ },
115
+ {
116
+ "name": "Table",
117
+ "object": null,
118
+ "source": "mocap",
119
+ "needs_video_check": false
120
+ }
121
+ ]
122
+ },
123
+ "notes": []
124
+ }
actions/locomanipulation/LM49/session_015/motions/objects.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:60f1cbc7b6fc76fc62e40f9269c376bf765b23c4e4cb2dbba053545b6b2b7f3d
3
+ size 3687747
actions/locomanipulation/LM49/session_015/motions/skeleton.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b1f13e9c53a12292f618aad420486a9d849333202b0329dc22f5b40c8c95b199
3
+ size 11264365
actions/locomanipulation/LM49/session_015/motions/smplx.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4738cfd67e4183f2bf04bc5f9ba1c34b23e0a0599bda0c5ccaf43bda52675d3c
3
+ size 7450274
actions/locomanipulation/LM49/session_015/raw/audio.wav ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:61fc7cb6ee9340a5851ee0f5930c3a497bedc58cacdd780bfbbb32cb8ea4bc71
3
+ size 31031118
actions/locomanipulation/LM49/session_015/raw/manifest.json ADDED
@@ -0,0 +1,374 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "created_at_utc": "2026-10-29T16:26:22.220116+00:00",
4
+ "primitive_id": "LM49",
5
+ "session_id": "20261029_092922_session26",
6
+ "upload_batch_id": "20261029",
7
+ "dataset_path": "EgoMotionActions/20261029/LM49/20261029_092922_session26",
8
+ "segment": "auto/all",
9
+ "duration_s": 161.133333,
10
+ "device_ids": {
11
+ "main": "e3296774a321bb51",
12
+ "left": "39042f5fb5da3b12",
13
+ "right": "65a3481473d6e2a0"
14
+ },
15
+ "mocap_rigid_names": [
16
+ "BigBox2",
17
+ "Body0",
18
+ "LittleBox3",
19
+ "LittleBox4",
20
+ "LittleBox6",
21
+ "Table",
22
+ "Tracker0"
23
+ ],
24
+ "objects": [
25
+ "BigBox2",
26
+ "LittleBox3",
27
+ "LittleBox4",
28
+ "LittleBox6",
29
+ "Table0"
30
+ ],
31
+ "options": {
32
+ "raw_video": true,
33
+ "proxy_height": 540,
34
+ "proxy_crf": 28,
35
+ "proxy_bitrate": "1400k",
36
+ "mocap_selection": "explicit",
37
+ "mocap_files": [
38
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-1.mp4",
39
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-BigBox2.csv",
40
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-BigBox2.trc",
41
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Body0.bvh",
42
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Body0.csv",
43
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Body0.trc",
44
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox3.csv",
45
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox3.trc",
46
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox4.csv",
47
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox4.trc",
48
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox6.csv",
49
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox6.trc",
50
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Table.csv",
51
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Table.trc",
52
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Tracker0.csv",
53
+ "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Tracker0.trc"
54
+ ],
55
+ "include_rrd": false,
56
+ "rrd_files": [],
57
+ "aligned_intersection": false
58
+ },
59
+ "files": [
60
+ {
61
+ "source": "audio_segment1.wav",
62
+ "packaged_as": "audio_segment1.wav",
63
+ "kind": "data",
64
+ "original_bytes": 31031118,
65
+ "packaged_bytes": 31031118,
66
+ "compressed_video": false,
67
+ "sha256": "61fc7cb6ee9340a5851ee0f5930c3a497bedc58cacdd780bfbbb32cb8ea4bc71"
68
+ },
69
+ {
70
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-1.mp4",
71
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-1.mp4",
72
+ "kind": "video_raw",
73
+ "original_bytes": 81781181,
74
+ "packaged_bytes": 81781181,
75
+ "compressed_video": false,
76
+ "sha256": "0320f510cc87c6899e6871a1eae8bb34e9482d474b713ab1c5c02b495d59ce36"
77
+ },
78
+ {
79
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-BigBox2.csv",
80
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-BigBox2.csv",
81
+ "kind": "data",
82
+ "original_bytes": 5876420,
83
+ "packaged_bytes": 5876420,
84
+ "compressed_video": false,
85
+ "sha256": "5e59a296e5f77f53f17f181e349767a60da53beb6bda1cdfd996a8b458fe8ec8"
86
+ },
87
+ {
88
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-BigBox2.trc",
89
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-BigBox2.trc",
90
+ "kind": "data",
91
+ "original_bytes": 5934139,
92
+ "packaged_bytes": 5934139,
93
+ "compressed_video": false,
94
+ "sha256": "aa3c774eed36c5817ca1c101917bbc28175abd9ebef752ef0c723f9adf3e86de"
95
+ },
96
+ {
97
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Body0.bvh",
98
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-Body0.bvh",
99
+ "kind": "data",
100
+ "original_bytes": 11496706,
101
+ "packaged_bytes": 11496706,
102
+ "compressed_video": false,
103
+ "sha256": "e051c3132d44427c1f2e8adb9d94a8e704b9e27cf23afc46620dea0b365dbaa9"
104
+ },
105
+ {
106
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Body0.csv",
107
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-Body0.csv",
108
+ "kind": "data",
109
+ "original_bytes": 161210843,
110
+ "packaged_bytes": 161210843,
111
+ "compressed_video": false,
112
+ "sha256": "c9a6d5c067b5356efd520552f1c43a8d1e3b0c732694821c9ca0a0c31740f121"
113
+ },
114
+ {
115
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Body0.trc",
116
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-Body0.trc",
117
+ "kind": "data",
118
+ "original_bytes": 35316972,
119
+ "packaged_bytes": 35316972,
120
+ "compressed_video": false,
121
+ "sha256": "9daa0dd10edf843098e3a564a8e0122a54cdbda66bc011cc87606effb5b3cfd9"
122
+ },
123
+ {
124
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox3.csv",
125
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-LittleBox3.csv",
126
+ "kind": "data",
127
+ "original_bytes": 6067917,
128
+ "packaged_bytes": 6067917,
129
+ "compressed_video": false,
130
+ "sha256": "e370fb00e401e6b5de4036eb50a6ceedd4a1a0da755332da8878f2bdec20f761"
131
+ },
132
+ {
133
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox3.trc",
134
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-LittleBox3.trc",
135
+ "kind": "data",
136
+ "original_bytes": 5873389,
137
+ "packaged_bytes": 5873389,
138
+ "compressed_video": false,
139
+ "sha256": "9c2e6f2d85f50e60269df7a0dcc3a14f26eafba2c0fe55c6c483bebf2dea71e7"
140
+ },
141
+ {
142
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox4.csv",
143
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-LittleBox4.csv",
144
+ "kind": "data",
145
+ "original_bytes": 6172631,
146
+ "packaged_bytes": 6172631,
147
+ "compressed_video": false,
148
+ "sha256": "dcc030ec140e1938f4a844a5c250ae2b99a0463b26f61e857897b3c263420df8"
149
+ },
150
+ {
151
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox4.trc",
152
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-LittleBox4.trc",
153
+ "kind": "data",
154
+ "original_bytes": 5684266,
155
+ "packaged_bytes": 5684266,
156
+ "compressed_video": false,
157
+ "sha256": "6b212a9ee9b1362cd064d5311b0f3f5354386be903bc5445b522660354cefb9a"
158
+ },
159
+ {
160
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox6.csv",
161
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-LittleBox6.csv",
162
+ "kind": "data",
163
+ "original_bytes": 6024714,
164
+ "packaged_bytes": 6024714,
165
+ "compressed_video": false,
166
+ "sha256": "79b10f7087505f1d90389be67a36fae84460019018f8d2c465425ec8e9a174e0"
167
+ },
168
+ {
169
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-LittleBox6.trc",
170
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-LittleBox6.trc",
171
+ "kind": "data",
172
+ "original_bytes": 5714551,
173
+ "packaged_bytes": 5714551,
174
+ "compressed_video": false,
175
+ "sha256": "e5c15c2f90d2fdd83fa0f28fa63169bdf42642ae4614753b91ca89afccfdc4e2"
176
+ },
177
+ {
178
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Table.csv",
179
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-Table.csv",
180
+ "kind": "data",
181
+ "original_bytes": 5813088,
182
+ "packaged_bytes": 5813088,
183
+ "compressed_video": false,
184
+ "sha256": "1984b1e99227d3594a17d1484ef57860c828ac5b5d894396f9f75a5390c859d1"
185
+ },
186
+ {
187
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Table.trc",
188
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-Table.trc",
189
+ "kind": "data",
190
+ "original_bytes": 5818073,
191
+ "packaged_bytes": 5818073,
192
+ "compressed_video": false,
193
+ "sha256": "ff2d1a88a28de1804e80737cd50480845fe738b5609ca8442a8e6ec2083c4943"
194
+ },
195
+ {
196
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Tracker0.csv",
197
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-Tracker0.csv",
198
+ "kind": "data",
199
+ "original_bytes": 6185790,
200
+ "packaged_bytes": 6185790,
201
+ "compressed_video": false,
202
+ "sha256": "9d999d5a3e2a6b5db9f1de32437af7f4a6b4793a46a99fb49f9c6bc80461205e"
203
+ },
204
+ {
205
+ "source": "mocap-LM49-S02-lvaoshan-01p1/mocap-LM49-S02-lvaoshan-01p1-Tracker0.trc",
206
+ "packaged_as": "mocap/mocap-LM49-S02-lvaoshan-01p1-Tracker0.trc",
207
+ "kind": "data",
208
+ "original_bytes": 5891197,
209
+ "packaged_bytes": 5891197,
210
+ "compressed_video": false,
211
+ "sha256": "4f4240e699016e492648b6a6791a2f77607650ac68b8ef2fa8a69bf6902aa164"
212
+ },
213
+ {
214
+ "source": "robocap_segment1_imu_left.db",
215
+ "packaged_as": "robocap_segment1_imu_left.db",
216
+ "kind": "data",
217
+ "original_bytes": 1675264,
218
+ "packaged_bytes": 1675264,
219
+ "compressed_video": false,
220
+ "sha256": "150ad321c72598ef00490c473d10eb473b7d56d90e50af081cd05b5ed5335ffd"
221
+ },
222
+ {
223
+ "source": "robocap_segment1_imu_right.db",
224
+ "packaged_as": "robocap_segment1_imu_right.db",
225
+ "kind": "data",
226
+ "original_bytes": 1617920,
227
+ "packaged_bytes": 1617920,
228
+ "compressed_video": false,
229
+ "sha256": "a11f846efae1e4551556ce33efe2ec4bd107547460e7414738fb08db88c147fb"
230
+ },
231
+ {
232
+ "source": "robocap_segment1_mag_middle.db",
233
+ "packaged_as": "robocap_segment1_mag_middle.db",
234
+ "kind": "data",
235
+ "original_bytes": 425984,
236
+ "packaged_bytes": 425984,
237
+ "compressed_video": false,
238
+ "sha256": "c0dada05335ec2706b6a52be0bfbff8ef673cd9e0a2b60da2bdf2bbaf58937c6"
239
+ },
240
+ {
241
+ "source": "robocap_segment1_video_left.mp4",
242
+ "packaged_as": "robocap_segment1_video_left.mp4",
243
+ "kind": "video_raw",
244
+ "original_bytes": 80828362,
245
+ "packaged_bytes": 80828362,
246
+ "compressed_video": false,
247
+ "sha256": "bc0f3f60caf568430dc45aee91bffd473fb08b19147e66d250807f7e5da88c94"
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": 80595152,
254
+ "packaged_bytes": 80595152,
255
+ "compressed_video": false,
256
+ "sha256": "adce3fae61eec412e66250ae2e54ff3c244bf937cc085912658b24bdc3176e9d"
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": 80726841,
263
+ "packaged_bytes": 80726841,
264
+ "compressed_video": false,
265
+ "sha256": "b12e071015ebd7908c2a9051c4c844ca29cb658a60db47e57be6a288d8baab8f"
266
+ },
267
+ {
268
+ "source": "robocap_segment1_video_right.mp4",
269
+ "packaged_as": "robocap_segment1_video_right.mp4",
270
+ "kind": "video_raw",
271
+ "original_bytes": 80757756,
272
+ "packaged_bytes": 80757756,
273
+ "compressed_video": false,
274
+ "sha256": "202c2e0e5e30b7ef4435373e6364198a0a32db0ccf89b654993c5b5198cf0fb8"
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": 80752018,
281
+ "packaged_bytes": 80752018,
282
+ "compressed_video": false,
283
+ "sha256": "cc93f30e3f5c7a70161e96896d5b760d95a2a74750ddedd5246c19b5ad9f6f58"
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": 80750213,
290
+ "packaged_bytes": 80750213,
291
+ "compressed_video": false,
292
+ "sha256": "c9e30e9196bead179b66d023adb6789cb004b5b93a5250af9c98f1ea2778f5fd"
293
+ },
294
+ {
295
+ "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
296
+ "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_imu_left.db",
297
+ "kind": "data",
298
+ "original_bytes": 1622016,
299
+ "packaged_bytes": 1622016,
300
+ "compressed_video": false,
301
+ "sha256": "a19172dc1019db828a61730851e2b2661d425d32c348f4bb66ad933d0cb7764e"
302
+ },
303
+ {
304
+ "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
305
+ "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_mag_left.db",
306
+ "kind": "data",
307
+ "original_bytes": 409600,
308
+ "packaged_bytes": 409600,
309
+ "compressed_video": false,
310
+ "sha256": "652457fa4a527a8f0431433bc3d8ef81c7f6c66a4ba2c4be69e4ffe86b577120"
311
+ },
312
+ {
313
+ "source": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
314
+ "packaged_as": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
315
+ "kind": "video_raw",
316
+ "original_bytes": 70470068,
317
+ "packaged_bytes": 70470068,
318
+ "compressed_video": false,
319
+ "sha256": "10dd40865bad3e4e828266c38ab6e040a2271bae8bb7ed364d52afdc5b4155f8"
320
+ },
321
+ {
322
+ "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
323
+ "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_imu_right.db",
324
+ "kind": "data",
325
+ "original_bytes": 1634304,
326
+ "packaged_bytes": 1634304,
327
+ "compressed_video": false,
328
+ "sha256": "cc1a84e947fe94e096c11dbf17309cad6c04c216be09b15bc45527d6f723ff6d"
329
+ },
330
+ {
331
+ "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
332
+ "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_mag_right.db",
333
+ "kind": "data",
334
+ "original_bytes": 409600,
335
+ "packaged_bytes": 409600,
336
+ "compressed_video": false,
337
+ "sha256": "6d1d64f484a237bceed898a86dd81c70ecaac9efbe59ba5c642e33ca0a75e655"
338
+ },
339
+ {
340
+ "source": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
341
+ "packaged_as": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
342
+ "kind": "video_raw",
343
+ "original_bytes": 71973898,
344
+ "packaged_bytes": 71973898,
345
+ "compressed_video": false,
346
+ "sha256": "9970b0b3675a8b4462c2a365b8071e63d6859ab8ab779ec068f7f4af243af846"
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": 807565,
353
+ "packaged_bytes": 807517,
354
+ "compressed_video": false,
355
+ "sha256": "087f1d0cffe442dd229a45a80084d974fd9b9a83258643db37ca5da644941591"
356
+ }
357
+ ],
358
+ "mocap_capture": {
359
+ "source_directory": "mocap-LM49-S02-lvaoshan-01p1",
360
+ "action_id": "LM49",
361
+ "collection_session_index": 2,
362
+ "participant": "lvaoshan",
363
+ "repetition_count": 1
364
+ },
365
+ "upload_batch_created_at": "2026-10-30T01:29:50.518481+08:00",
366
+ "participant_gender": "female",
367
+ "participant_height_cm": 166,
368
+ "participant_weight_kg": 46,
369
+ "collection_site": {
370
+ "id": "site_00",
371
+ "assignment_method": "env",
372
+ "catalog": "collection_sites.json"
373
+ }
374
+ }
actions/locomanipulation/LM49/session_015/raw/mocap/BigBox2.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/BigBox2.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/Body0.bvh ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e051c3132d44427c1f2e8adb9d94a8e704b9e27cf23afc46620dea0b365dbaa9
3
+ size 11496706
actions/locomanipulation/LM49/session_015/raw/mocap/Body0.csv ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c9a6d5c067b5356efd520552f1c43a8d1e3b0c732694821c9ca0a0c31740f121
3
+ size 161210843
actions/locomanipulation/LM49/session_015/raw/mocap/Body0.trc ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9daa0dd10edf843098e3a564a8e0122a54cdbda66bc011cc87606effb5b3cfd9
3
+ size 35316972
actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox3.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox3.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox4.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox4.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox6.csv ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/LittleBox6.trc ADDED
The diff for this file is too large to render. See raw diff
 
actions/locomanipulation/LM49/session_015/raw/mocap/Table.csv ADDED
The diff for this file is too large to render. See raw diff