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version https://git-lfs.github.com/spec/v1
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oid sha256:a33c5cefba58e94db68f5efa39d0a92af1dc60f363b473ea0c23a7a17260ccc7
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size 50341842
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actions/locomanipulation/LM48/session_009/videos/wrist_right.mp4
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:a428eca7c43b611e5cce7892842d1ace2ab0f7a3a2c5cbe4d95cf90a2ec6f2df
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size 54072077
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actions/locomanipulation/LM48/session_010/cameras/poses.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:a7d023eb59e7d2a820235b1bd5a2c8bbf079cf0a0ed1da45372453919b4d229c
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size 1108450
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actions/locomanipulation/LM48/session_010/meta.json
ADDED
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@@ -0,0 +1,507 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261024/LM48/20261024_061610_session58",
|
| 4 |
+
"session_id": "20261024_061610_session58",
|
| 5 |
+
"primitive": "LM48",
|
| 6 |
+
"batch": "20261024",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
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| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "cc5681142208e29a",
|
| 12 |
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"right": "a85418f7d807dff9"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-26T05:06:45.752915+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": 125.95833333333333,
|
| 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": -0.086626,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9861,
|
| 32 |
+
"reference_imu_first_sample_s": 16305.228553802,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9853316342814619,
|
| 36 |
+
"drift_ppm": 12.380038950577548,
|
| 37 |
+
"drift_se_ppm": 7.115436127509154,
|
| 38 |
+
"drift_ms_over_take": 1.5592659058252423,
|
| 39 |
+
"lag_scatter_ms": 0.6750295412513161,
|
| 40 |
+
"lag_range_ms": 2.929097625398808
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
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1.0,
|
| 48 |
+
0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
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| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
+
0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 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 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25628,
|
| 76 |
+
"n_gyro": 25623,
|
| 77 |
+
"t_start": -0.09352201656510321,
|
| 78 |
+
"t_end": 126.13768519243568
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| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 25471,
|
| 82 |
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"n_gyro": 25465,
|
| 83 |
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"t_start": 0.01700035843497001,
|
| 84 |
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"t_end": 126.30560991243657
|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24947,
|
| 88 |
+
"n_gyro": 24946,
|
| 89 |
+
"t_start": -0.9001171635649285,
|
| 90 |
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"t_end": 125.04225908443514
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 24876,
|
| 94 |
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"n_gyro": 24876,
|
| 95 |
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"t_start": -0.8549431465657022,
|
| 96 |
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"t_end": 125.04228589643354
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 12635,
|
| 100 |
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"t_start": 0.12491798343545209,
|
| 101 |
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"t_end": 126.464915752436
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
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| 104 |
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"n": 12588,
|
| 105 |
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"t_start": -0.8814598255652442,
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| 106 |
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"t_end": 125.03841661743319
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| 107 |
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},
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| 108 |
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"mag_wrist_left": {
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| 109 |
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"n": 12582,
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| 110 |
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"t_start": -0.8409326185650485,
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| 111 |
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"t_end": 125.03846478343586
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| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 16305.351999,
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| 118 |
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"frames": 3778,
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| 119 |
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"pts_gaps": 0,
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| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.03944785408349101,
|
| 124 |
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"t_end": 125.93948085408157,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 16305.351974,
|
| 131 |
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"frames": 3778,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
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},
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 263 |
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"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
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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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0.0,
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0.0,
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0.0,
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1.0
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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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0.0215,
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0.0639,
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9.8876
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],
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},
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| 336 |
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|
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},
|
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"camera_pose_source": "provider T_tracker0_cam",
|
| 339 |
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"files": [
|
| 340 |
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"mocap_zup.npz",
|
| 341 |
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"tracker0_zup.npz",
|
| 342 |
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"rig_zup.npz",
|
| 343 |
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"cameras_zup.npz"
|
| 344 |
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]
|
| 345 |
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},
|
| 346 |
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|
| 347 |
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| 348 |
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"file": "smplx.npz",
|
| 350 |
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"gender": "female",
|
| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
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"hands": {
|
| 356 |
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"observed": false,
|
| 357 |
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
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"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
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|
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"LHandIn": [
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0.06965633481740952,
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0.01318473368883133,
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0.016200466081500053
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],
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0.05326088145375252,
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],
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0.018138790503144264,
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0.0034008047077804804,
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0.013983914628624916
|
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],
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|
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|
| 388 |
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}
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| 389 |
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}
|
| 390 |
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},
|
| 391 |
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"marker_rmse_mm": {
|
| 392 |
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"median_frame": 5.75,
|
| 393 |
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"p95_frame": 9.92
|
| 394 |
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},
|
| 395 |
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"worst_markers": [
|
| 396 |
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"LShin 17mm",
|
| 397 |
+
"RWristOut 17mm",
|
| 398 |
+
"RWristIn 15mm",
|
| 399 |
+
"RElbowIn 14mm",
|
| 400 |
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"RElbow 11mm"
|
| 401 |
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],
|
| 402 |
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"valid_fraction": 0.9995,
|
| 403 |
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|
| 404 |
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|
| 405 |
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"median": 5.6,
|
| 406 |
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"p5": -2.8
|
| 407 |
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},
|
| 408 |
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|
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"stature_mm": 1600.3
|
| 410 |
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},
|
| 411 |
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"surface_term": {
|
| 412 |
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"weight": 1.0,
|
| 413 |
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|
| 414 |
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|
| 415 |
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|
| 416 |
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},
|
| 417 |
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"shape_source": "participant median",
|
| 418 |
+
"wrist_correction": {
|
| 419 |
+
"left": {
|
| 420 |
+
"status": "corrected",
|
| 421 |
+
"Q_deg": 178.48,
|
| 422 |
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"Q_rotvec": [
|
| 423 |
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-2.98978,
|
| 424 |
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0.0085,
|
| 425 |
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0.87473
|
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],
|
| 427 |
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"in_out_sign": -1,
|
| 428 |
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"wrist_bend_deg_median": 173.2,
|
| 429 |
+
"opposite_sign_bend_deg": 28.7,
|
| 430 |
+
"in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
|
| 431 |
+
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|
| 432 |
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|
| 433 |
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"before": 178.41,
|
| 434 |
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"after": 2.29
|
| 435 |
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},
|
| 436 |
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"markers_on_wrist": [
|
| 437 |
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"LWristOut",
|
| 438 |
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"LHandIn",
|
| 439 |
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"LHandOut"
|
| 440 |
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],
|
| 441 |
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|
| 442 |
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|
| 443 |
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|
| 444 |
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"median": -11.27,
|
| 445 |
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"iqr": [
|
| 446 |
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-21.7,
|
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-5.0
|
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]
|
| 449 |
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},
|
| 450 |
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|
| 451 |
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|
| 452 |
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"LForearm",
|
| 453 |
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"LWristIn"
|
| 454 |
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]
|
| 455 |
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},
|
| 456 |
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"frames_used": 1500
|
| 457 |
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},
|
| 458 |
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"right": {
|
| 459 |
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"status": "corrected",
|
| 460 |
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|
| 461 |
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"Q_rotvec": [
|
| 462 |
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0.30102,
|
| 463 |
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0.2735,
|
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-0.10979
|
| 465 |
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],
|
| 466 |
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"in_out_sign": 1,
|
| 467 |
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"wrist_bend_deg_median": 26.1,
|
| 468 |
+
"opposite_sign_bend_deg": 158.0,
|
| 469 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 470 |
+
"marker_frame_spread_deg": 4.31,
|
| 471 |
+
"hand_vs_marker_frame_deg": {
|
| 472 |
+
"before": 25.32,
|
| 473 |
+
"after": 4.31
|
| 474 |
+
},
|
| 475 |
+
"markers_on_wrist": [
|
| 476 |
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"RHandIn",
|
| 477 |
+
"RHandOut"
|
| 478 |
+
],
|
| 479 |
+
"forearm_twist": {
|
| 480 |
+
"twist_moved_deg": -24.89,
|
| 481 |
+
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|
| 482 |
+
"median": -0.0,
|
| 483 |
+
"iqr": [
|
| 484 |
+
-6.0,
|
| 485 |
+
8.6
|
| 486 |
+
]
|
| 487 |
+
},
|
| 488 |
+
"wrist_total_deg_median_after": 13.6,
|
| 489 |
+
"markers_on_forearm": [
|
| 490 |
+
"RForearm",
|
| 491 |
+
"RWristIn",
|
| 492 |
+
"RWristOut"
|
| 493 |
+
]
|
| 494 |
+
},
|
| 495 |
+
"frames_used": 1500
|
| 496 |
+
},
|
| 497 |
+
"generated_at_utc": "2026-10-26T18:07:21.226213+00:00",
|
| 498 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
"release": {
|
| 502 |
+
"release_path": "actions/locomanipulation/LM48/session_010",
|
| 503 |
+
"family": "locomanipulation",
|
| 504 |
+
"primitive": "LM48",
|
| 505 |
+
"source_session": "20261024/LM48/20261024_061610_session58"
|
| 506 |
+
}
|
| 507 |
+
}
|
actions/locomanipulation/LM48/session_010/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
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