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Upload folder using huggingface_hub (part 1894)

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  1. .gitattributes +1 -0
  2. actions/locomotion_primitives/P21/session_013/raw/sensors/robowrist_mag_right.db +2 -2
  3. actions/locomotion_primitives/P21/session_013/scene/infer.json +4 -4
  4. actions/locomotion_primitives/P21/session_013/scene/views.npz +2 -2
  5. actions/locomotion_primitives/P21/session_013/sensors/head_imu.npz +2 -2
  6. actions/locomotion_primitives/P21/session_013/sensors/head_mag.npz +2 -2
  7. actions/locomotion_primitives/P21/session_013/sensors/wrist_imu.npz +2 -2
  8. actions/locomotion_primitives/P21/session_013/sensors/wrist_mag.npz +2 -2
  9. actions/locomotion_primitives/P21/session_013/videos/frame_timestamps.npz +2 -2
  10. actions/locomotion_primitives/P21/session_013/videos/head_left.mp4 +2 -2
  11. actions/locomotion_primitives/P21/session_013/videos/head_left_eye.mp4 +2 -2
  12. actions/locomotion_primitives/P21/session_013/videos/head_left_front.mp4 +2 -2
  13. actions/locomotion_primitives/P21/session_013/videos/head_right.mp4 +2 -2
  14. actions/locomotion_primitives/P21/session_013/videos/head_right_eye.mp4 +2 -2
  15. actions/locomotion_primitives/P21/session_013/videos/head_right_front.mp4 +2 -2
  16. actions/locomotion_primitives/P21/session_013/videos/third_person.mp4 +2 -2
  17. actions/locomotion_primitives/P21/session_013/videos/wrist_left.mp4 +2 -2
  18. actions/locomotion_primitives/P21/session_013/videos/wrist_right.mp4 +2 -2
  19. actions/locomotion_primitives/P21/session_014/cameras/poses.npz +2 -2
  20. actions/locomotion_primitives/P21/session_014/meta.json +187 -191
  21. actions/locomotion_primitives/P21/session_014/motions/head_rig.npz +2 -2
  22. actions/locomotion_primitives/P21/session_014/motions/markers.npz +2 -2
  23. actions/locomotion_primitives/P21/session_014/motions/skeleton.npz +2 -2
  24. actions/locomotion_primitives/P21/session_014/motions/smplx.npz +2 -2
  25. actions/locomotion_primitives/P21/session_014/raw/audio.wav +2 -2
  26. actions/locomotion_primitives/P21/session_014/raw/manifest.json +73 -73
  27. actions/locomotion_primitives/P21/session_014/raw/mocap/Body0.bvh +0 -0
  28. actions/locomotion_primitives/P21/session_014/raw/mocap/Body0.csv +2 -2
  29. actions/locomotion_primitives/P21/session_014/raw/mocap/Body0.trc +2 -2
  30. actions/locomotion_primitives/P21/session_014/raw/mocap/Tracker0.csv +0 -0
  31. actions/locomotion_primitives/P21/session_014/raw/mocap/Tracker0.trc +0 -0
  32. actions/locomotion_primitives/P21/session_014/raw/sensors/robocap_imu_left.db +2 -2
  33. actions/locomotion_primitives/P21/session_014/raw/sensors/robocap_imu_right.db +2 -2
  34. actions/locomotion_primitives/P21/session_014/raw/sensors/robocap_mag_middle.db +2 -2
  35. actions/locomotion_primitives/P21/session_014/raw/sensors/robowrist_imu_left.db +2 -2
  36. actions/locomotion_primitives/P21/session_014/raw/sensors/robowrist_imu_right.db +2 -2
  37. actions/locomotion_primitives/P21/session_014/raw/sensors/robowrist_mag_left.db +2 -2
  38. actions/locomotion_primitives/P21/session_014/raw/sensors/robowrist_mag_right.db +2 -2
  39. actions/locomotion_primitives/P21/session_014/scene/infer.json +5 -5
  40. actions/locomotion_primitives/P21/session_014/scene/views.npz +2 -2
  41. actions/locomotion_primitives/P21/session_014/sensors/head_imu.npz +2 -2
  42. actions/locomotion_primitives/P21/session_014/sensors/head_mag.npz +2 -2
  43. actions/locomotion_primitives/P21/session_014/sensors/wrist_imu.npz +2 -2
  44. actions/locomotion_primitives/P21/session_014/sensors/wrist_mag.npz +2 -2
  45. actions/locomotion_primitives/P21/session_014/videos/frame_timestamps.npz +2 -2
  46. actions/locomotion_primitives/P21/session_014/videos/head_left.mp4 +2 -2
  47. actions/locomotion_primitives/P21/session_014/videos/head_left_eye.mp4 +2 -2
  48. actions/locomotion_primitives/P21/session_014/videos/head_left_front.mp4 +2 -2
  49. actions/locomotion_primitives/P21/session_014/videos/head_right.mp4 +2 -2
  50. actions/locomotion_primitives/P21/session_014/videos/head_right_eye.mp4 +2 -2
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159
  "timeshift_cam_imu_s": 0.0017295646474508202,
160
  "file": "robocap_segment1_video_right_front.mp4",
161
- "t_start": 0.038903947058417376,
162
- "t_end": 84.00564794705961,
163
  "clock": "device",
164
  "calibrated": true
165
  },
166
  "left_eye": {
167
  "fps": 30.0,
168
- "start_device_s": 31460.559926,
169
- "frames": 2520,
170
  "pts_gaps": 0,
171
  "timing": "pts",
172
  "timeshift_cam_imu_s": 0.001668932298833096,
173
  "file": "robocap_segment1_video_left_eye.mp4",
174
- "t_start": 0.038787314712964704,
175
- "t_end": 84.0054983147139,
176
  "clock": "device",
177
  "calibrated": true
178
  },
179
  "right_eye": {
180
  "fps": 30.0,
181
- "start_device_s": 31460.559883,
182
- "frames": 2520,
183
  "pts_gaps": 0,
184
  "timing": "pts",
185
  "timeshift_cam_imu_s": 0.0017169377622902274,
186
  "file": "robocap_segment1_video_right_eye.mp4",
187
- "t_start": 0.03879232017526357,
188
- "t_end": 84.00545932017586,
189
  "clock": "device",
190
  "calibrated": true
191
  },
192
  "wrist_left": {
193
  "fps": 30.0,
194
- "start_device_s": 31460.7003,
195
- "frames": 2437,
196
  "pts_gaps": 0,
197
  "timing": "pts",
198
  "timeshift_cam_imu_s": null,
199
  "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
200
- "t_start": 0.17749238241332188,
201
- "t_end": 81.37729738241352,
202
  "clock": "device",
203
  "calibrated": false
204
  },
205
  "wrist_right": {
206
  "fps": 30.0,
207
- "start_device_s": 31460.876813,
208
- "frames": 2432,
209
  "pts_gaps": 0,
210
  "timing": "pts",
211
  "timeshift_cam_imu_s": null,
212
  "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
213
- "t_start": 0.35400538241184387,
214
- "t_end": 81.38746938241194,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "third_person": {
219
- "file": "mocap/mocap-P21-S02-gaoziyue-05p1-1.mp4",
220
- "frames": 2521,
221
- "fps": 30.0,
222
  "clock": "nokov (frame index)",
223
  "t_start": 0.0,
224
- "t_end": 84.0
225
  }
226
  }
227
  },
@@ -234,51 +234,53 @@
234
  },
235
  "verdict": "READY",
236
  "issues": [
 
237
  "WARN M_SPIKES",
238
  "WARN M_TRACKER_LABELS",
239
  "WARN S_INDEX_STALE",
240
- "WARN S_PARTICIPANT"
 
241
  ]
242
  },
243
  "canonical": {
244
- "generated_at_utc": "2026-10-14T12:20:36.854512+00:00",
245
  "generated_by": "scripts/canonicalise_dataset.py",
246
  "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
247
  "R_canon_nokov": [
248
  [
249
- 0.9999089224,
250
- -0.0134960197,
251
- -6.59458e-05
252
  ],
253
  [
254
- 6.59458e-05,
255
- 0.009771953,
256
- -0.9999522512
257
  ],
258
  [
259
- 0.0134960197,
260
- 0.9998611736,
261
- 0.009771953
262
  ]
263
  ],
264
  "scale_nokov_to_canon": 0.001,
265
  "T_canon_nokov_mm": [
266
  [
267
- 0.000999908922,
268
- -1.349602e-05,
269
- -6.5946e-08,
270
  0.0
271
  ],
272
  [
273
- 6.5946e-08,
274
- 9.771953e-06,
275
- -0.000999952251,
276
  0.0
277
  ],
278
  [
279
- 1.349602e-05,
280
- 0.000999861174,
281
- 9.771953e-06,
282
  0.0
283
  ],
284
  [
@@ -288,26 +290,26 @@
288
  1.0
289
  ]
290
  ],
291
- "block": "20260919-afternoon",
292
  "block_assignment": "trc",
293
- "tilt_removed_deg": 0.9547260052070599,
294
  "plane_status": "ok",
295
  "floor": {
296
- "sole_marker_p1_mm": 45.7,
297
- "headtop_p95_mm": 1633.8
298
  },
299
  "gravity_check": {
300
- "static_samples": 272,
301
  "g_world_mean_m_s2": [
302
- 0.1932,
303
- -0.0842,
304
- 9.7548
305
  ],
306
- "tilt_from_z_deg": 1.238,
307
- "tilt_from_z_deg_before_levelling": 2.18,
308
- "magnitude_m_s2": 9.7571
309
  },
310
- "rig_tracker_definition": "e17c9efadb69e7b1/20260919-afternoon/labels-530412/session-134073ceda71b039",
311
  "camera_pose_source": "provider T_tracker0_cam",
312
  "files": [
313
  "mocap_zup.npz",
@@ -317,7 +319,7 @@
317
  ]
318
  },
319
  "smplx": {
320
- "generated_at_utc": "2026-10-15T05:22:32.023807+00:00",
321
  "generated_by": "scripts/fit_smplx_dataset.py",
322
  "file": "smplx.npz",
323
  "gender": "female",
@@ -332,94 +334,89 @@
332
  "hand_marker_offsets_m": {
333
  "left": {
334
  "LHandIn": [
335
- 0.03946300223469734,
336
- 0.020451532676815987,
337
- 0.01967076025903225
338
  ],
339
  "LHandOut": [
340
- 0.039759766310453415,
341
- 0.01053406298160553,
342
- -0.03905220329761505
343
  ]
344
  },
345
  "right": {
346
  "RHandIn": [
347
- -0.045884743332862854,
348
- 0.021685922518372536,
349
- 0.018791113048791885
350
  ],
351
  "RHandOut": [
352
- -0.05579710379242897,
353
- 0.00945640541613102,
354
- -0.03613390401005745
355
- ],
356
- "RWristOut": [
357
- 0.0213023591786623,
358
- 0.014054371975362301,
359
- -0.03128809109330177
360
  ]
361
  }
362
  }
363
  },
364
  "marker_rmse_mm": {
365
- "median_frame": 4.83,
366
- "p95_frame": 6.63
367
  },
368
  "worst_markers": [
369
  "RKneeIn 14mm",
370
- "RKnee 11mm",
371
  "LKneeIn 10mm",
372
- "LThigh 10mm",
373
- "LElbow 8mm"
 
374
  ],
375
- "valid_fraction": 1.0,
376
  "qc": {
377
  "lowest_vertex_mm": {
378
- "median": 17.3,
379
- "p5": 12.0
380
  },
381
- "frames_checked": 337,
382
- "stature_mm": 1598.8
383
  },
384
  "surface_term": {
385
  "weight": 1.0,
386
  "marker_height_mm": 11.0,
387
  "markers_on_surface": 52,
388
- "surface_rmse_mm_median": 11.39
389
  },
390
  "shape_source": "participant median",
391
  "wrist_correction": {
392
  "left": {
393
  "status": "corrected",
394
- "Q_deg": 173.8,
395
  "Q_rotvec": [
396
- 2.99426,
397
- 0.16735,
398
- -0.45546
399
  ],
400
- "in_out_sign": -1,
401
- "wrist_bend_deg_median": 158.2,
402
- "opposite_sign_bend_deg": 33.3,
403
- "in_out_convention": "pinky side = HandIn (default IN_OUT_SIGN, no ACE output)",
404
- "marker_frame_spread_deg": 1.56,
405
  "hand_vs_marker_frame_deg": {
406
- "before": 173.68,
407
- "after": 1.56
408
  },
409
  "markers_on_wrist": [
410
  "LHandIn",
411
  "LHandOut"
412
  ],
413
  "forearm_twist": {
414
- "twist_moved_deg": 157.48,
415
  "wrist_twist_deg_after": {
416
- "median": -0.0,
417
  "iqr": [
418
- -3.1,
419
- 2.5
420
  ]
421
  },
422
- "wrist_total_deg_median_after": 27.9,
423
  "markers_on_forearm": [
424
  "LElbowIn",
425
  "LForearm",
@@ -427,97 +424,96 @@
427
  "LWristOut"
428
  ]
429
  },
430
- "frames_used": 1009
431
  },
432
  "right": {
433
  "status": "corrected",
434
- "Q_deg": 31.78,
435
  "Q_rotvec": [
436
- -0.11877,
437
- 0.41166,
438
- -0.35227
439
  ],
440
  "in_out_sign": 1,
441
- "wrist_bend_deg_median": 32.5,
442
- "opposite_sign_bend_deg": 170.2,
443
  "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
444
- "marker_frame_spread_deg": 1.23,
445
  "hand_vs_marker_frame_deg": {
446
- "before": 31.84,
447
- "after": 1.23
448
  },
449
  "markers_on_wrist": [
450
- "RWristOut",
451
  "RHandIn",
452
  "RHandOut"
453
  ],
454
  "forearm_twist": {
455
- "twist_moved_deg": -12.94,
456
  "wrist_twist_deg_after": {
457
  "median": 0.0,
458
  "iqr": [
459
- -1.2,
460
- 1.3
461
  ]
462
  },
463
- "wrist_total_deg_median_after": 29.9,
464
  "markers_on_forearm": [
465
- "RUArmHigh",
466
  "RElbowIn",
467
  "RForearm",
468
- "RWristIn"
 
469
  ]
470
  },
471
- "frames_used": 1009
472
  },
473
- "generated_at_utc": "2026-10-15T05:22:34.472849+00:00",
474
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
475
  }
476
  },
477
  "rig_tracker": {
478
- "definition": "e17c9efadb69e7b1/20260919-afternoon/labels-530412/session-134073ceda71b039",
479
  "R_tracker0_imu0": [
480
  [
481
- -0.65957582,
482
- 0.2419007,
483
- -0.71164864
484
  ],
485
  [
486
- 0.75060351,
487
- 0.1623221,
488
- -0.64050441
489
  ],
490
  [
491
- -0.03942216,
492
- -0.95662719,
493
- -0.28863525
494
  ]
495
  ],
496
  "p_tracker0_imu0_m": [
497
- -0.1762909297614622,
498
- -0.016303783578642633,
499
- -0.025432419637366522
500
  ],
501
  "rig_check": {
502
- "gyro_samples": 6824,
503
  "gyro_max_deg": 2.5,
504
  "status": "ok",
505
  "dropped_marker": null,
506
- "gyro_deg": 0.679
507
  },
508
  "file": "derived/rig_tracker_provider/rig_tracker.json",
509
  "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
510
  },
511
  "rig_calibration_repair": {
512
  "version": 2,
513
- "applied_at_utc": "2026-10-18T18:57:46.500818+00:00",
514
  "generated_by": "scripts/correct_processed_rig.py",
515
- "remaining_gyro_frame_deg": 0.7821376688484473
516
  },
517
  "release": {
518
  "release_path": "actions/locomotion_primitives/P21/session_014",
519
  "family": "locomotion_primitives",
520
  "primitive": "P21",
521
- "source_session": "20260919/P21/20260919_091738_session155"
522
  }
523
  }
 
1
  {
2
  "schema_version": 1,
3
+ "session": "EgoMotionActions/20260921/P21/20260921_072443_session129",
4
+ "session_id": "20260921_072443_session129",
5
  "primitive": "P21",
6
+ "batch": "20260921",
7
+ "participant": "zhangxinxin",
8
  "participant_source": "manifest",
9
  "device_ids": {
10
  "main": "e17c9efadb69e7b1",
11
  "left": "cc5681142208e29a",
12
  "right": "60a6f081bbe60b0d"
13
  },
14
+ "generated_at_utc": "2026-10-14T11:20:38.221056+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
  "first_solved_frame": 0,
20
+ "duration_s": 89.025,
21
  "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
22
  },
23
  "alignment": {
24
  "reference_imu": "imu_head_right",
25
  "model": "offset (median of windows)",
26
  "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
27
+ "offset_s": -1.172431,
28
  "rate": 0.0,
29
  "global_lag_s": -1.175,
30
+ "peak_corr": 0.9742,
31
+ "reference_imu_first_sample_s": 25593.225656961,
32
  "windows": {
33
+ "n_windows": 7,
34
+ "window_corr_median": 0.9937152489989955,
35
+ "drift_ppm": 22.995154160965708,
36
+ "drift_se_ppm": 3.181339875272762,
37
+ "drift_ms_over_take": 2.046951972895297,
38
+ "lag_scatter_ms": 0.14227384441281196,
39
+ "lag_range_ms": 1.2866993436149166
40
  }
41
  },
42
  "units": {
 
71
  "streams": {
72
  "sensors": {
73
  "imu_head_right": {
74
+ "n_acc": 18227,
75
+ "n_gyro": 18220,
76
+ "t_start": -1.1940156857538096,
77
+ "t_end": 89.67534219424738
78
  },
79
  "imu_head_left": {
80
+ "n_acc": 18195,
81
+ "n_gyro": 18189,
82
+ "t_start": -1.0680628937527654,
83
+ "t_end": 89.84496337824635
84
  },
85
  "imu_wrist_right": {
86
+ "n_acc": 17181,
87
+ "n_gyro": 17192,
88
+ "t_start": 0.2631482992462697,
89
+ "t_end": 85.16707097624635
90
  },
91
  "imu_wrist_left": {
92
+ "n_acc": 16759,
93
+ "n_gyro": 16759,
94
+ "t_start": 0.3305647072472784,
95
+ "t_end": 85.17128379524615
96
  },
97
  "mag_head": {
98
+ "n": 9101,
99
+ "t_start": -0.9893176847519936,
100
+ "t_end": 90.0106793582479
101
  },
102
  "mag_wrist_right": {
103
+ "n": 8489,
104
+ "t_start": 0.2840725462472182,
105
+ "t_end": 85.16374051424532
106
  },
107
  "mag_wrist_left": {
108
+ "n": 8482,
109
+ "t_start": 0.34530090224757437,
110
+ "t_end": 85.15456156924733
111
  }
112
  },
113
  "videos": {
114
  "left": {
115
  "fps": 30.0,
116
+ "start_device_s": 25594.435566,
117
+ "frames": 2670,
118
  "pts_gaps": 0,
119
  "timing": "pts",
120
  "timeshift_cam_imu_s": 0.0023423887986386703,
121
  "file": "robocap_segment1_video_left.mp4",
122
+ "t_start": 0.039819959044281816,
123
+ "t_end": 89.0064419590442,
124
  "clock": "device",
125
  "calibrated": true
126
  },
127
  "right": {
128
  "fps": 30.0,
129
+ "start_device_s": 25594.435501,
130
+ "frames": 2670,
131
  "pts_gaps": 0,
132
  "timing": "pts",
133
  "timeshift_cam_imu_s": 0.0019489646456461974,
134
  "file": "robocap_segment1_video_right.mp4",
135
+ "t_start": 0.03936153489371641,
136
+ "t_end": 89.00601753489423,
137
  "clock": "device",
138
  "calibrated": true
139
  },
140
  "left_front": {
141
  "fps": 30.0,
142
+ "start_device_s": 25594.435546,
143
+ "frames": 2670,
144
  "pts_gaps": 0,
145
  "timing": "pts",
146
  "timeshift_cam_imu_s": 0.0018171232386612972,
147
  "file": "robocap_segment1_video_left_front.mp4",
148
+ "t_start": 0.039274693487415746,
149
+ "t_end": 89.00590769348742,
150
  "clock": "device",
151
  "calibrated": true
152
  },
153
  "right_front": {
154
  "fps": 30.0,
155
+ "start_device_s": 25594.435587,
156
+ "frames": 2670,
157
  "pts_gaps": 0,
158
  "timing": "pts",
159
  "timeshift_cam_imu_s": 0.0017295646474508202,
160
  "file": "robocap_segment1_video_right_front.mp4",
161
+ "t_start": 0.03922813489293908,
162
+ "t_end": 89.00583913489277,
163
  "clock": "device",
164
  "calibrated": true
165
  },
166
  "left_eye": {
167
  "fps": 30.0,
168
+ "start_device_s": 25594.435526,
169
+ "frames": 2670,
170
  "pts_gaps": 0,
171
  "timing": "pts",
172
  "timeshift_cam_imu_s": 0.001668932298833096,
173
  "file": "robocap_segment1_video_left_eye.mp4",
174
+ "t_start": 0.03910650254579373,
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+ "t_end": 89.00575050254588,
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  "clock": "device",
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  "calibrated": true
178
  },
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  "right_eye": {
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  "fps": 30.0,
181
+ "start_device_s": 25594.435476,
182
+ "frames": 2670,
183
  "pts_gaps": 0,
184
  "timing": "pts",
185
  "timeshift_cam_imu_s": 0.0017169377622902274,
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  "file": "robocap_segment1_video_right_eye.mp4",
187
+ "t_start": 0.03910450800572285,
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+ "t_end": 89.00577150800632,
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  "clock": "device",
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  "calibrated": true
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  },
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  "wrist_left": {
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  "fps": 30.0,
194
+ "start_device_s": 25594.725489,
195
+ "frames": 2545,
196
  "pts_gaps": 0,
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  "timing": "pts",
198
  "timeshift_cam_imu_s": null,
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  "file": "robowrist_cc5681142208e29a_left/robowrist_segment1_video_left_down.mp4",
200
+ "t_start": 0.3274005702467111,
201
+ "t_end": 85.12661957024716,
202
  "clock": "device",
203
  "calibrated": false
204
  },
205
  "wrist_right": {
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  "fps": 30.0,
207
+ "start_device_s": 25594.699822,
208
+ "frames": 2545,
209
  "pts_gaps": 0,
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  "timing": "pts",
211
  "timeshift_cam_imu_s": null,
212
  "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
213
+ "t_start": 0.30173357024500724,
214
+ "t_end": 85.10140757024669,
215
  "clock": "device",
216
  "calibrated": false
217
  },
218
  "third_person": {
219
+ "file": "mocap/mocap-P21-S03-zhangxinxin-05p1-1.mp4",
220
+ "frames": 2671,
221
+ "fps": 29.97002997002997,
222
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