Release update 2026-11-05: new sessions, instructions, annotations (part 42)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +35 -0
- actions/static_manipulation/SM37/session_011/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM37/session_011/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM37/session_011/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM37/session_011/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM37/session_011/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM37/session_011/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM37/session_011/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM37/session_011/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM37/session_011/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM37/session_011/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM37/session_011/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM37/session_011/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM37/session_011/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM37/session_011/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM37/session_012/cameras/poses.npz +3 -0
- actions/static_manipulation/SM37/session_012/meta.json +543 -0
- actions/static_manipulation/SM37/session_012/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM37/session_012/motions/markers.npz +3 -0
- actions/static_manipulation/SM37/session_012/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM37/session_012/motions/smplx.npz +3 -0
- actions/static_manipulation/SM37/session_012/raw/audio.wav +3 -0
- actions/static_manipulation/SM37/session_012/raw/manifest.json +308 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Table2.csv +0 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Table2.trc +0 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM37/session_012/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM37/session_012/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM37/session_012/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM37/session_012/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM37/session_012/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM37/session_012/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM37/session_012/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM37/session_012/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM37/session_012/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM37/session_012/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM37/session_012/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM37/session_012/sensors/wrist_mag.npz +3 -0
.gitattributes
CHANGED
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@@ -50917,3 +50917,38 @@ actions/static_manipulation/SM37/session_010/raw/sensors/robowrist_mag_left.db f
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actions/static_manipulation/SM37/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_011/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_011/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_011/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_011/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 50935 |
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| 50942 |
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actions/static_manipulation/SM38/session_009/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 50943 |
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actions/static_manipulation/SM38/session_009/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 50944 |
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| 50948 |
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| 50949 |
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actions/static_manipulation/SM38/session_010/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 50950 |
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actions/static_manipulation/SM38/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 50951 |
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| 50952 |
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actions/static_manipulation/SM38/session_010/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 50953 |
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actions/static_manipulation/SM38/session_010/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 50954 |
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actions/static_manipulation/SM38/session_010/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/static_manipulation/SM37/session_011/raw/sensors/robocap_imu_left.db
ADDED
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actions/static_manipulation/SM37/session_012/cameras/poses.npz
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|
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version https://git-lfs.github.com/spec/v1
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size 1214300
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actions/static_manipulation/SM37/session_012/meta.json
ADDED
|
@@ -0,0 +1,543 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/SM37/20261031_071140_session72",
|
| 4 |
+
"session_id": "20261031_071140_session72",
|
| 5 |
+
"primitive": "SM37",
|
| 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": "2026-11-03T05:55:13.824543+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": 294,
|
| 21 |
+
"duration_s": 138.50833333333333,
|
| 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": -0.085352,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.8928,
|
| 32 |
+
"reference_imu_first_sample_s": 22494.702390978,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.7907062158016954,
|
| 36 |
+
"drift_ppm": -16.88962699985581,
|
| 37 |
+
"drift_se_ppm": 31.113319170781303,
|
| 38 |
+
"drift_ms_over_take": -2.380592925629676,
|
| 39 |
+
"lag_scatter_ms": 3.8610613695294687,
|
| 40 |
+
"lag_range_ms": 12.297635036351757
|
| 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 |
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[
|
| 57 |
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0.0,
|
| 58 |
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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 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
+
"n_acc": 28676,
|
| 76 |
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"n_gyro": 28671,
|
| 77 |
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"t_start": -2.546780058386675,
|
| 78 |
+
"t_end": 138.70782539261546
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 28499,
|
| 82 |
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"n_gyro": 28493,
|
| 83 |
+
"t_start": -2.4373515863846382,
|
| 84 |
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"t_end": 138.87272435161486
|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 28541,
|
| 88 |
+
"n_gyro": 28553,
|
| 89 |
+
"t_start": -3.2263079093865503,
|
| 90 |
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"t_end": 137.82464524961307
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 28584,
|
| 94 |
+
"n_gyro": 28598,
|
| 95 |
+
"t_start": -3.345382717383645,
|
| 96 |
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"t_end": 137.8268858066147
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 14139,
|
| 100 |
+
"t_start": -2.347908304385955,
|
| 101 |
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"t_end": 139.03207551261568
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 14104,
|
| 105 |
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"t_start": -3.2088346973870916,
|
| 106 |
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"t_end": 137.82084342561558
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 14117,
|
| 110 |
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"t_start": -3.3374714573839714,
|
| 111 |
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"t_end": 137.8220007246162
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 22494.823305,
|
| 118 |
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"frames": 4228,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": -2.4118090937374195,
|
| 124 |
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"t_end": 138.48834690626228,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 22494.823277,
|
| 131 |
+
"frames": 4228,
|
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"twist_moved_deg": -109.79,
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"wrist_twist_deg_after": {
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| 515 |
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"median": -0.02,
|
| 516 |
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"iqr": [
|
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-5.7,
|
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126.7
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|
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"markers_on_forearm": [
|
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"RElbow",
|
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|
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|
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"generated_at_utc": "2026-11-03T13:28:59.503335+00:00",
|
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
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}
|
| 532 |
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},
|
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"release": {
|
| 534 |
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"release_path": "actions/static_manipulation/SM37/session_012",
|
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"family": "static_manipulation",
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|
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"task": {
|
| 540 |
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"primitive": "SM37",
|
| 541 |
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"instruction": "Point the scanner at each label on the shelf in front of you and press the button. 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."
|
| 542 |
+
}
|
| 543 |
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}
|
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|
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|
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|
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|
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|
| 18 |
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|
| 19 |
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|
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|
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|
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