Release update 2026-11-05: new sessions, instructions, annotations (part 15)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/LittleBox5.csv +0 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/LittleBox5.trc +0 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/LittleBox6.csv +0 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/LittleBox6.trc +0 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM14/session_011/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM14/session_011/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM14/session_011/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM14/session_011/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM14/session_011/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM14/session_011/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM14/session_011/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM14/session_011/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM14/session_011/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM14/session_011/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM14/session_011/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM14/session_011/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM14/session_011/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM14/session_011/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM14/session_011/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM14/session_012/cameras/poses.npz +3 -0
- actions/static_manipulation/SM14/session_012/meta.json +593 -0
- actions/static_manipulation/SM14/session_012/motions/head_rig.npz +3 -0
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- actions/static_manipulation/SM14/session_012/motions/objects.npz +3 -0
- actions/static_manipulation/SM14/session_012/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM14/session_012/motions/smplx.npz +3 -0
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- actions/static_manipulation/SM14/session_012/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM14/session_012/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM14/session_012/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM14/session_012/raw/mocap/LittleBox4.csv +0 -0
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- actions/static_manipulation/SM14/session_012/raw/mocap/LittleBox5.csv +0 -0
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- actions/static_manipulation/SM14/session_012/raw/mocap/LittleBox6.csv +0 -0
- actions/static_manipulation/SM14/session_012/raw/mocap/LittleBox6.trc +0 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/SM14/20261031_085223_session103",
|
| 4 |
+
"session_id": "20261031_085223_session103",
|
| 5 |
+
"primitive": "SM14",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "huruoxuan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:54:37.943751+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": 1,
|
| 21 |
+
"duration_s": 132.95,
|
| 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": -0.083217,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.8859,
|
| 32 |
+
"reference_imu_first_sample_s": 28538.241257832,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.8751613727126171,
|
| 36 |
+
"drift_ppm": 11.229188278703054,
|
| 37 |
+
"drift_se_ppm": 18.818358859179895,
|
| 38 |
+
"drift_ms_over_take": 1.4929205816535709,
|
| 39 |
+
"lag_scatter_ms": 2.0179716491605575,
|
| 40 |
+
"lag_range_ms": 7.746439079298423
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27047,
|
| 76 |
+
"n_gyro": 27042,
|
| 77 |
+
"t_start": -0.0984494150502916,
|
| 78 |
+
"t_end": 133.13346726495044
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26880,
|
| 82 |
+
"n_gyro": 26874,
|
| 83 |
+
"t_start": 0.01804679294987986,
|
| 84 |
+
"t_end": 133.3031338839505
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26947,
|
| 88 |
+
"n_gyro": 26945,
|
| 89 |
+
"t_start": -0.9233774610507145,
|
| 90 |
+
"t_end": 132.256221511951
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26965,
|
| 94 |
+
"n_gyro": 26965,
|
| 95 |
+
"t_start": -0.9165559630487597,
|
| 96 |
+
"t_end": 132.26652250994854
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13338,
|
| 100 |
+
"t_start": 0.0961137099479482,
|
| 101 |
+
"t_end": 133.46608627394787
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13316,
|
| 105 |
+
"t_start": -0.8958755610506534,
|
| 106 |
+
"t_end": 132.25339265995032
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13317,
|
| 110 |
+
"t_start": -0.8990773230503156,
|
| 111 |
+
"t_end": 132.26028976895074
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 28538.361803,
|
| 118 |
+
"frames": 3988,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.031623622595778986,
|
| 124 |
+
"t_end": 132.9315566225964,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 28538.361776,
|
| 131 |
+
"frames": 3988,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03138630156577969,
|
| 137 |
+
"t_end": 132.93133030156648,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
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"task": {
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"primitive": "SM14",
|
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"instruction": "Hold the box, turn it so you can read the label, and read it out loud. Then swap to the next box. Repeat at your own pace until the operator says stop. Keep both feet on the marked spots for the whole take. If you have to step, stop and tell the operator."
|
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"instances": [
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{
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{
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"name": "LittleBox5",
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"object_type": "LittleBox",
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"source": "mocap",
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"pose_frame": "mesh",
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"mesh": "objects/LittleBox/littlebox.ply",
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"calibration": {
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"instance": "LittleBox5",
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"vision_source": null
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},
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{
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"name": "LittleBox6",
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"object_type": "LittleBox",
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"source": "mocap",
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"instance": "LittleBox6",
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"name": "Table",
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}
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],
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"name": "Table2",
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"valid_s": 0.0
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}
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],
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"object_list": {
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"status": "corrected",
|
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"notes": [],
|
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|
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|
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|
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"LittleBox6",
|
| 81 |
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"Table0",
|
| 82 |
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"Table2"
|
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],
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"listed": [
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{
|
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"name": "LittleBox4",
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"object": "LittleBox",
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},
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{
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{
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]
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},
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"notes": []
|
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}
|
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| 1 |
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| 7 |
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| 27 |
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| 30 |
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