Motion Capture Benchmark of Industrial Tasks for Ergonomic Assessment and European Historic Crafts

General Info: This benchmark provides motion capture (MoCap) files in .bvh form. The recordings were done in the span of May 2019 to January 2020 for the needs of the CoLLaboratE and MINGEI H2020 projects funded by the European Commission. The tasks included are: TV assembling Airplane component manufacturing High ergonomic hazard motions Silk-Weaving Glassblowing Mastic Cultivation The TV assembly and airplane component manufacturing tasks were recorded in real-world conditions inside the factory during the actual production of the items. The high ergonomic hazard motions were recorded in a controlled lab environment and serve as baseline/prototype motions for ergonomic risk assessment. The silk-weaving, glassblowing, and mastic cultivation data sets were created, corresponding to movements performed by skilled craftsmen and mastic farmers. These data sets were produced in order to extract the expert's gestural knowledge and analyze their dexterity while doing their crafts. Naming Convention: All files in this benchmark follow a strict naming convention to allow for easier parsing by scripts. The names have a total of 12 or 13 characters that convey the following information: The first three or fours characters label the recording session (e.g., LAB, PLN, GBBC, MCSN, etc.) The next three characters label the subject number (e.g., S01, S02, S03, etc.) The next three characters label the posture or gesture number (e.g., P01, P02, G01, G02, etc.) The final three characters label the repetition number (e.g., R01, R02, R03, etc.) For example, LABS02P03R01 denotes a lab recording of the second subject, performing the third posture for the first time. Recording Sessions: There are six recording sessions in this benchmark, the ergonomic risk motion recorded in the lab (denoted as "LAB"), the construction of an airplane component (denoted as "PLN"), and the assembling and packaging of TVs (denoted as "TV*"), the silk weaving (denoted as "SW*"), glassblowing (denoted as "GB*"), and mastic cultivation (denoted as "MC*"). The postures are the following: LAB: Standing: P01: The subject stays in I-pose P02: The subject rotates his/her torso to the left as far the person can P03: The subject will laterally bend his/her torso to the left for 6 seconds P04: The subject bends more than 20° but less than 60° P05: The subject bends more than 20° but less than 60° while rotating and laterally bending the torso to the left P06: The subject stretches his/her arms, and bends forward more than 20° but less than 60° while rotating and laterally bending the torso to the left P07: The subject bends more than 60° P08: The subject bends more than 60° while rotating and laterally bending the torso to the left P09: The subject stretches his/her arms, and bends forward more than 60° while rotating and laterally bending the torso to the left P10: The subject upright, raises the elbows above the shoulder level with the forearms bent 90° ( P11: The subject raises the elbows above the shoulder level with the forearms bent 90° while rotating and laterally bending the torso to the left P12: The subject raises the elbows above the shoulder level with the arms stretched while rotating and laterally bending the torso to the left P13: The subject upright, raises the hands above the head P14: The subject raises the hands above the head with the arms stretched while rotating and laterally bending the torso to the left Sitting on a chair: P15: The subject sits upright P16: The subject bends forward more than 60° P17: The subject bends forward more than 60° while rotating and laterally bending the torso to the left P18: The subject stretches the arms, and bends forward more than 60° while rotating and laterally bending the torso to the left P19: The subject raises the hands above the head with arms stretched P20: The subject raises the hands above the head with the arms stretched while rotating and laterally bending the torso to the left Kneeling: P21: The subject stays upright P22: The subject rotates the torso to the left as far he/she can P23: The subject will laterally bend the torso to the left for 6 seconds P24: The subject bends more than 60° P25: The subject bends more than 60° while rotating and laterally bending the torso to the left P26: The subject stretches the arms, and bends forward more than 60° while rotating and laterally bending the torso to the left P27: The subject upright, raises the elbows to the shoulder level with the arms stretched P28: The subject raises the elbows to the shoulder level with the arms stretched while rotating and laterally bending the torso to the left The TV assembling tasks are further divided. The subtasks are: packing the TVs on a stack for shipping (denoted as "TVP" for medium-sized TVs and "TVL" for larger TVs), placing assembling and placing electronic circuit boards on the chassis (denoted as "TVB"), and screwing the boards on the TV chassis (denoted as "TV_"). Each task is comprised of a number of postures. TV Assembling: Assembling the board and placing it on the TV chassis (TVB): P01: Reaching high, above the shoulder level, to pick one component P02: Reaching low, below the knee level, to pick up the second component P03: Connecting the components and placing the board on the chassis to be screwed Screwing an electrical circuit board on the TV chassis (TV_) : P01: A screw is placed on a power tool and it is being screwed on the chassis. The process is repeated four times Preparing TVs for Shipping (TVP & TVL): P01: Placing TVs on a wooden pallet (bottom level) P02: Preparing to wrap the bottom level with a membrane P03: Wrapping the bottom level P04: Placing TVs on top of the bottom level (second level) P05: Placing TVs on top of the second level (third level) P06: Wrapping the second level with a plastic membrane P07: Wrapping the third level with a plastic membrane P08: Placing TVs on top of the third level (fourth level) P09: Wrapping the fourth level with a plastic membrane Riveting of an airplane floater (PLN): P01: Rivet with the pneumatic hammer. P02: Prepare the pneumatic hammer and grab rivets. P03: Place the bucking bar to counteract the incoming rivet. The tasks recorded for silk weaving, glassblowing, and mastic cultivation data sets were segmented by gestures (e.g., G01, G02, etc.) . The tasks recorded for these three data sets are the following: Silk weaving (SW*): The creation of the punch cards (SWPC). Preparation of the beam (SWPB). Wrapping of the beam (SWWB). Jacquard weaving with small loom (SWSL). Jacquard weaving with medium size loom (SWML). Jacquard weaving with large loom (SWLL). Glassblowing (GB*): Beak cutting (GBBC). Blowing and shaping (GBBS). Cervix refining (GBCR). Cord laying (GBCL). Finish details (GBFD). Handle laying (GBHL). Transfer to punty (GBTP). Leg and foot laying (GBLF). Mastic Cultivation (MC*): Scrapping with new tool (MCSN). Scrapping with old tool (MCSO). Sweeping (MCSW). Dusting (MCDU). Embroidery A (MCEA). Embroidery B (MCEB). Embroidery with an axe (MCEX). Gathering (MCGA). Harvesting (MCHA). Wiping (MCWI). Shifting A (MCSA). Shifting B (MCSB). Cleaning with the wind (MCCW). The motion capture files were processed and segmented with a 3D character animation software (MotionBuilder, Autodesk Inc., San Rafael, CA. USA) and exported to Biovision Hierarchy (BVH) files.基本信息：本基准数据集提供.bvh格式的动作捕捉（Motion Capture，简称MoCap）文件。本次录制工作于2019年5月至2020年1月期间开展，旨在支撑由欧盟委员会资助的CoLLaboratE与MINGEI H2020科研项目。本次录制涵盖以下任务：电视组装、飞机部件制造、高人机工效风险动作、丝绸织造、玻璃吹制、乳香种植。其中电视组装与飞机部件制造任务于工厂真实生产场景中录制，对应产品的实际生产流程。高人机工效风险动作任务在受控实验室环境中录制，作为人机工效风险评估的基准/原型动作数据集。丝绸织造、玻璃吹制与乳香种植数据集则基于熟练工匠与乳香种植农户的实际作业动作创建，旨在提取专家的手势知识并分析其作业时的灵巧性。 命名约定：本基准数据集内所有文件均遵循严格的命名规范，以便脚本快速解析。文件名长度固定为12或13个字符，可传递以下信息：前3或4个字符为录制会话标识（例如"LAB"、"PLN"、"GBBC"、"MCSN"等）；接下来3个字符为受试者编号（例如"S01"、"S02"、"S03"等）；再接下来3个字符为姿态或动作编号（例如"P01"、"P02"、"G01"、"G02"等）；最后3个字符为重复次数编号（例如"R01"、"R02"、"R03"等）。示例："LABS02P03R01"代表实验室录制场景下，第2名受试者执行第3个姿态动作的首次重复录制。 录制会话：本数据集共包含6类录制会话：实验室录制的高人机工效风险动作（标识为"LAB"）、飞机部件制造（标识为"PLN"）、电视组装与包装（标识为"TV*"）、丝绸织造（标识为"SW*"）、玻璃吹制（标识为"GB*"）以及乳香种植（标识为"MC*"）。 姿态列表： 1. 实验室录制场景（LAB） 1.1 站立姿态 P01：受试者保持I型标准站姿； P02：受试者尽可能向左扭转躯干； P03：受试者向左侧屈躯干，持续6秒； P04：受试者躯干前屈角度大于20°且小于60°； P05：受试者向左扭转并侧屈躯干，同时躯干前屈角度大于20°且小于60°； P06：受试者伸展双臂，向左扭转并侧屈躯干，同时躯干前屈角度大于20°且小于60°； P07：受试者躯干前屈角度大于60°； P08：受试者向左扭转并侧屈躯干，同时躯干前屈角度大于60°； P09：受试者伸展双臂，向左扭转并侧屈躯干，同时躯干前屈角度大于60°； P10：受试者直立，肘部抬升至肩部以上，前臂弯曲90°； P11：受试者向左扭转并侧屈躯干，同时肘部抬升至肩部以上，前臂弯曲90°； P12：受试者向左扭转并侧屈躯干，同时伸展双臂，肘部抬升至肩部以上； P13：受试者直立，双手举过头顶； P14：受试者向左扭转并侧屈躯干，同时伸展双臂并将双手举过头顶； 1.2 坐姿姿态（坐于椅子上） P15：受试者保持挺直坐姿； P16：受试者躯干前屈角度大于60°； P17：受试者向左扭转并侧屈躯干，同时躯干前屈角度大于60°； P18：受试者伸展双臂，向左扭转并侧屈躯干，同时躯干前屈角度大于60°； P19：受试者伸展双臂并将双手举过头顶； P20：受试者向左扭转并侧屈躯干，同时伸展双臂并将双手举过头顶； 1.3 跪姿姿态 P21：受试者保持直立跪姿； P22：受试者尽可能向左扭转躯干； P23：受试者向左侧屈躯干，持续6秒； P24：受试者躯干前屈角度大于60°； P25：受试者向左扭转并侧屈躯干，同时躯干前屈角度大于60°； P26：受试者伸展双臂，向左扭转并侧屈躯干，同时躯干前屈角度大于60°； P27：受试者直立，肘部抬升至肩部高度，双臂伸展； P28：受试者向左扭转并侧屈躯干，同时肘部抬升至肩部高度，双臂伸展； 2. 电视组装任务细分 电视组装任务可进一步划分为以下子任务：电视堆叠包装（用于运输，中型电视标识为"TVP"，大型电视标识为"TVL"）、将电子电路板安装并放置到电视底盘（标识为"TVB"）、将电路板紧固至电视底盘（标识为"TV_"），每个子任务均包含若干姿态动作。 2.1 电路板安装与放置（TVB） P01：抬手至肩部以上高度，拾取第一个部件； P02：伸手至膝盖以下高度，拾取第二个部件； P03：连接两个部件，并将电路板放置至待紧固的电视底盘； 2.2 电路板紧固（TV_） P01：将螺丝装入电动工具，旋拧至电视底盘，该流程重复4次； 2.3 电视运输包装（TVP & TVL） P01：将电视放置至木质托盘底层； P02：准备使用塑料膜包裹底层； P03：完成底层塑料膜包裹； P04：将电视放置到底层之上（第二层）； P05：将电视放置至第二层之上（第三层）； P06：使用塑料膜包裹第二层； P07：使用塑料膜包裹第三层； P08：将电视放置至第三层之上（第四层）； P09：使用塑料膜包裹第四层； 3. 飞机部件铆接（PLN） P01：使用气动锤完成铆接作业； P02：准备气动锤并抓取铆钉； P03：放置抵杆以抵消铆接时的反作用力； 4. 丝绸织造、玻璃吹制与乳香种植数据集 上述三类数据集的录制动作均按手势进行分段（例如"G01"、"G02"等），对应任务如下： 4.1 丝绸织造（SW*） 打孔卡制作（SWPC）、织轴准备（SWPB）、织轴缠绕（SWWB）、小型织机提花织造（SWSL）、中型织机提花织造（SWML）、大型织机提花织造（SWLL）； 4.2 玻璃吹制（GB*） 嘴部切割（GBBC）、吹制与塑形（GBBS）、颈部修整（GBCR）、绳纹成型（GBCL）、细节抛光（GBFD）、手柄成型（GBHL）、转移至顶杆（GBTP）、支腿与底座成型（GBLF）； 4.3 乳香种植（MC*） 新工具刮取（MCSN）、旧工具刮取（MCSO）、清扫（MCSW）、除尘（MCDU）、刺绣作业A（MCEA）、刺绣作业B（MCEB）、斧头刺绣（MCEX）、收集（MCGA）、收获（MCHA）、擦拭（MCWI）、移位作业A（MCSA）、移位作业B（MCSB）、风力清洁（MCCW）； 动作捕捉文件处理：本数据集的动作捕捉文件均通过3D角色动画软件（Autodesk MotionBuilder，美国加利福尼亚州圣拉斐尔市Autodesk公司）进行处理与分段，并导出为生物视觉层级格式（Biovision Hierarchy，简称BVH）文件。