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- .gitattributes +27 -0
- actions/locomanipulation/LM31/session_019/raw/mocap/LowStep.trc +0 -0
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- actions/locomanipulation/LM31/session_019/scene/infer.json +36 -0
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|
| 1 |
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{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261017/LM31/20261017_100155_session139",
|
| 4 |
+
"session_id": "20261017_100155_session139",
|
| 5 |
+
"primitive": "LM31",
|
| 6 |
+
"batch": "20261017",
|
| 7 |
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"participant": "yanyitong",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e3296774a321bb51",
|
| 11 |
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"left": "39042f5fb5da3b12",
|
| 12 |
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"right": "65a3481473d6e2a0"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-22T15:56:49.536979+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": 127.025,
|
| 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": -0.08813,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9976,
|
| 32 |
+
"reference_imu_first_sample_s": 33717.206583726,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9979809058951086,
|
| 36 |
+
"drift_ppm": -0.1016318504387448,
|
| 37 |
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"drift_se_ppm": 4.962065747202314,
|
| 38 |
+
"drift_ms_over_take": -0.012908938869894568,
|
| 39 |
+
"lag_scatter_ms": 0.4707428898199379,
|
| 40 |
+
"lag_range_ms": 1.5606316393139141
|
| 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 |
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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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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 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 |
+
"calibration": {
|
| 68 |
+
"device": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 25652,
|
| 76 |
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"n_gyro": 25646,
|
| 77 |
+
"t_start": -0.10004530650139362,
|
| 78 |
+
"t_end": 127.2176895764981
|
| 79 |
+
},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 25530,
|
| 82 |
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"n_gyro": 25524,
|
| 83 |
+
"t_start": 0.007203152495370763,
|
| 84 |
+
"t_end": 127.38757188749632
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25639,
|
| 88 |
+
"n_gyro": 25639,
|
| 89 |
+
"t_start": -0.8947840065035927,
|
| 90 |
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"t_end": 125.47510124849696
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25482,
|
| 94 |
+
"n_gyro": 25482,
|
| 95 |
+
"t_start": -0.7763351554992334,
|
| 96 |
+
"t_end": 125.48090104449993
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 12747,
|
| 100 |
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"t_start": 0.09295606850110186,
|
| 101 |
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"t_end": 127.55294671249912
|
| 102 |
+
},
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