Release update 2026-11-05: 5760 sessions, instructions, annotations (part 87)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/environment_coupled_wholebody/EC09/session_024/raw/mocap/Body0.bvh +0 -0
- actions/environment_coupled_wholebody/EC09/session_024/raw/mocap/Body0.csv +3 -0
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- actions/environment_coupled_wholebody/EC09/session_024/raw/mocap/Table.trc +0 -0
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- actions/environment_coupled_wholebody/EC09/session_024/raw/sensors/robocap_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/raw/sensors/robocap_mag_middle.db +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/raw/sensors/robowrist_imu_left.db +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/raw/sensors/robowrist_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/raw/sensors/robowrist_mag_left.db +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/raw/sensors/robowrist_mag_right.db +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/sensors/head_imu.npz +3 -0
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- actions/environment_coupled_wholebody/EC09/session_024/sensors/wrist_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/sensors/wrist_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/frame_timestamps.npz +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/head_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/head_left_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/head_left_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/head_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/head_right_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/head_right_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/third_person.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/wrist_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_024/videos/wrist_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC09/session_025/cameras/poses.npz +3 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/EC09/20261031_115601_session42",
|
| 4 |
+
"session_id": "20261031_115601_session42",
|
| 5 |
+
"primitive": "EC09",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "75b5984e04d1d236",
|
| 12 |
+
"right": "c84bc808cb6b47af"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:48:58.736839+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": 136.025,
|
| 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": -0.088279,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9726,
|
| 32 |
+
"reference_imu_first_sample_s": 10068.731117321,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9980822483432688,
|
| 36 |
+
"drift_ppm": -406.9955785882271,
|
| 37 |
+
"drift_se_ppm": 233.95749830473153,
|
| 38 |
+
"drift_ms_over_take": -55.358181947642024,
|
| 39 |
+
"lag_scatter_ms": 25.539616081133328,
|
| 40 |
+
"lag_range_ms": 105.80823273673975
|
| 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": 27466,
|
| 76 |
+
"n_gyro": 27461,
|
| 77 |
+
"t_start": -0.09979431947375723,
|
| 78 |
+
"t_end": 136.22580715752576
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27334,
|
| 82 |
+
"n_gyro": 27328,
|
| 83 |
+
"t_start": 0.007179908525914477,
|
| 84 |
+
"t_end": 136.3922524325268
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 27263,
|
| 88 |
+
"n_gyro": 27264,
|
| 89 |
+
"t_start": -0.8659028804735399,
|
| 90 |
+
"t_end": 134.77437952052662
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27504,
|
| 94 |
+
"n_gyro": 27515,
|
| 95 |
+
"t_start": -0.9136209694746767,
|
| 96 |
+
"t_end": 134.78074710952626
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13648,
|
| 100 |
+
"t_start": 0.089832700525777,
|
| 101 |
+
"t_end": 136.5598254325256
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13563,
|
| 105 |
+
"t_start": -0.8490369724744496,
|
| 106 |
+
"t_end": 134.77144407652543
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13568,
|
| 110 |
+
"t_start": -0.8965590644742306,
|
| 111 |
+
"t_end": 134.77369542552572
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 10068.856717,
|
| 118 |
+
"frames": 4080,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03987575996926444,
|
| 124 |
+
"t_end": 136.00645375996885,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 10068.85668,
|
| 131 |
+
"frames": 4080,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039650994604572595,
|
| 137 |
+
"t_end": 136.00622899460416,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 10068.856708,
|
| 144 |
+
"frames": 4080,
|
| 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": 0.03998497973462782,
|
| 150 |
+
"t_end": 136.00655197973413,
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},
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"tracker0_zup.npz",
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"rig_zup.npz",
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| 362 |
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"cameras_zup.npz"
|
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]
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},
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"gender": "female",
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| 374 |
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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}
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|
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},
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"RKneeIn 13mm",
|
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"RElbowIn 12mm",
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"RElbow 10mm",
|
| 413 |
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"RKnee 10mm",
|
| 414 |
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"RMT1 9mm"
|
| 415 |
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],
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|
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|
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"median": 8.2,
|
| 420 |
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},
|
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| 423 |
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|
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},
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| 425 |
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|
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"weight": 1.0,
|
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|
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|
| 429 |
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|
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},
|
| 431 |
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"shape_source": "participant median",
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| 432 |
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"left": {
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"status": "corrected",
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|
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|
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},
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],
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|
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|
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4.6
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]
|
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},
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|
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|
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|
| 466 |
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"LForearm",
|
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"LWristIn",
|
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|
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]
|
| 470 |
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},
|
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},
|
| 473 |
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|
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0.29371,
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|
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|
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],
|
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|
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+
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|
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+
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|
| 484 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 485 |
+
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|
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|
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|
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|
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+
},
|
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"RHandOut"
|
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],
|
| 494 |
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|
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|
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-8.6,
|
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17.9
|
| 501 |
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]
|
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},
|
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|
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| 505 |
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"RForearm",
|
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"RWristIn",
|
| 507 |
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"RWristOut"
|
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]
|
| 509 |
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},
|
| 510 |
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"frames_used": 1500
|
| 511 |
+
},
|
| 512 |
+
"generated_at_utc": "2026-11-03T11:47:02.311271+00:00",
|
| 513 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 514 |
+
}
|
| 515 |
+
},
|
| 516 |
+
"release": {
|
| 517 |
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"release_path": "actions/environment_coupled_wholebody/EC09/session_025",
|
| 518 |
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"family": "environment_coupled_wholebody",
|
| 519 |
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"primitive": "EC09",
|
| 520 |
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"source_session": "20261031/EC09/20261031_115601_session42"
|
| 521 |
+
},
|
| 522 |
+
"task": {
|
| 523 |
+
"primitive": "EC09",
|
| 524 |
+
"instruction": "Push the cart across the room and back. The operator will change how much is loaded on it between takes and will tell you each time."
|
| 525 |
+
},
|
| 526 |
+
"objects": [
|
| 527 |
+
{
|
| 528 |
+
"name": "BigBox1",
|
| 529 |
+
"object_type": "BigBox",
|
| 530 |
+
"source": "mocap",
|
| 531 |
+
"pose_frame": "mesh"
|
| 532 |
+
}
|
| 533 |
+
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