Release update 2026-11-05: 5760 sessions, instructions, annotations (part 67)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/Body0.csv +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/Body0.trc +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcBlue.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcBlue.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcGreen.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcGreen.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcOrange.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcOrange.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcRed.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/CcRed.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/Tracker0.csv +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/mocap/Tracker0.trc +0 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/sensors/robocap_imu_left.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/sensors/robocap_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/sensors/robocap_mag_middle.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/sensors/robowrist_imu_left.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/sensors/robowrist_imu_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/sensors/robowrist_mag_left.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/raw/sensors/robowrist_mag_right.db +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/sensors/head_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/sensors/head_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/sensors/wrist_imu.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/sensors/wrist_mag.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/frame_timestamps.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/head_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/head_left_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/head_left_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/head_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/head_right_eye.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/head_right_front.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/third_person.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/wrist_left.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_027/videos/wrist_right.mp4 +3 -0
- actions/environment_coupled_wholebody/EC06/session_028/cameras/poses.npz +3 -0
- actions/environment_coupled_wholebody/EC06/session_028/meta.json +550 -0
- actions/environment_coupled_wholebody/EC06/session_028/motions/head_rig.npz +3 -0
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size 43074677
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actions/environment_coupled_wholebody/EC06/session_028/cameras/poses.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:0d3568cd0a10413afe21cbaf0b43fdf91dfb89e28cc21aadc66bb9aab3807e6a
|
| 3 |
+
size 957473
|
actions/environment_coupled_wholebody/EC06/session_028/meta.json
ADDED
|
@@ -0,0 +1,550 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/EC06/20261028_033901_session37",
|
| 4 |
+
"session_id": "20261028_033901_session37",
|
| 5 |
+
"primitive": "EC06",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "wangmengli",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:11:49.384899+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": 110.79166666666667,
|
| 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": -0.08849,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9392,
|
| 32 |
+
"reference_imu_first_sample_s": 6942.382532229,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.985182758202198,
|
| 36 |
+
"drift_ppm": -588.0119264694998,
|
| 37 |
+
"drift_se_ppm": 332.42878728288474,
|
| 38 |
+
"drift_ms_over_take": -65.14192125404608,
|
| 39 |
+
"lag_scatter_ms": 27.006642346927144,
|
| 40 |
+
"lag_range_ms": 108.08388502419888
|
| 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 |
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"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 22554,
|
| 76 |
+
"n_gyro": 22550,
|
| 77 |
+
"t_start": -0.09991739223719869,
|
| 78 |
+
"t_end": 110.99930096776292
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 22419,
|
| 82 |
+
"n_gyro": 22412,
|
| 83 |
+
"t_start": 0.006909860762920841,
|
| 84 |
+
"t_end": 111.17132129776213
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 22376,
|
| 88 |
+
"n_gyro": 22375,
|
| 89 |
+
"t_start": -0.8891614132379394,
|
| 90 |
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"t_end": 109.7033805697621
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 22408,
|
| 94 |
+
"n_gyro": 22406,
|
| 95 |
+
"t_start": -0.9562005202377398,
|
| 96 |
+
"t_end": 109.71976751076285
|
| 97 |
+
},
|
| 98 |
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"mag_head": {
|
| 99 |
+
"n": 11125,
|
| 100 |
+
"t_start": 0.08987969376279999,
|
| 101 |
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"t_end": 111.32987249676275
|
| 102 |
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},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
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"n": 11058,
|
| 105 |
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"t_start": -0.8722727712373447,
|
| 106 |
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"t_end": 109.69813966376218
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 11066,
|
| 110 |
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"t_start": -0.938520839237622,
|
| 111 |
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"t_end": 109.71146277876245
|
| 112 |
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}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 6942.508606,
|
| 118 |
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"frames": 3323,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.04021248741004875,
|
| 124 |
+
"t_end": 110.77356848740978,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
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|
| 516 |
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"instruction": "Push the cart in and out of the line of poles without touching any of them. Keep going until the operator says stop."
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| 518 |
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|
| 519 |
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{
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| 520 |
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{
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| 532 |
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|
| 534 |
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"source": "mocap",
|
| 535 |
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| 537 |
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{
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|
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"pose_frame": "rigid_body"
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{
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|
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"pose_frame": "rigid_body"
|
| 548 |
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|
| 549 |
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|
| 550 |
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|
actions/environment_coupled_wholebody/EC06/session_028/motions/head_rig.npz
ADDED
|
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actions/environment_coupled_wholebody/EC06/session_028/motions/markers.npz
ADDED
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actions/environment_coupled_wholebody/EC06/session_028/motions/object_markers.npz
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actions/environment_coupled_wholebody/EC06/session_028/motions/objects.json
ADDED
|
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|
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
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|
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"held_by": "from mocap hands",
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"instances": [
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| 9 |
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{
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| 10 |
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"name": "BigBox",
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| 11 |
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|
| 12 |
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"pose_frame": "mesh",
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| 14 |
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"mesh": "objects/BigBox/bigbox.ply",
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"instance": "BigBox",
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|
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{
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"source": "mocap",
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"mesh": "objects/CcBlue/ccblue.ply",
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"calibration": {
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| 31 |
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"instance": "CcBlue_1",
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