Release update 2026-11-05: new sessions, instructions, annotations (part 149)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +10 -0
- actions/locomanipulation/LM21/session_032/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM21/session_032/motions/objects.json +39 -0
- actions/locomanipulation/LM21/session_032/motions/objects.npz +3 -0
- actions/locomanipulation/LM21/session_032/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM21/session_032/motions/smplx.npz +3 -0
- actions/locomanipulation/LM21/session_032/raw/audio.wav +3 -0
- actions/locomanipulation/LM21/session_032/raw/manifest.json +286 -0
- actions/locomanipulation/LM21/session_032/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM21/session_032/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM21/session_032/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM21/session_032/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM21/session_032/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM21/session_032/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM21/session_032/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM21/session_032/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM21/session_032/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM21/session_032/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM21/session_032/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM21/session_032/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM21/session_032/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM21/session_032/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM21/session_032/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM21/session_032/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM21/session_032/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM21/session_032/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM21/session_032/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM21/session_032/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM21/session_032/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM21/session_033/cameras/poses.npz +3 -0
- actions/locomanipulation/LM21/session_033/meta.json +528 -0
- actions/locomanipulation/LM21/session_033/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM21/session_033/motions/markers.npz +3 -0
- actions/locomanipulation/LM21/session_033/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM21/session_033/motions/objects.json +39 -0
- actions/locomanipulation/LM21/session_033/motions/objects.npz +3 -0
- actions/locomanipulation/LM21/session_033/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM21/session_033/motions/smplx.npz +3 -0
- actions/locomanipulation/LM21/session_033/raw/audio.wav +3 -0
- actions/locomanipulation/LM21/session_033/raw/manifest.json +286 -0
- actions/locomanipulation/LM21/session_033/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM21/session_033/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM21/session_033/raw/mocap/Body0.bvh +0 -0
.gitattributes
CHANGED
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actions/locomanipulation/LM21/session_031/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM21/session_031/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM21/session_031/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM21/session_031/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM21/session_032/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM21/session_032/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM21/session_032/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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{
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{
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{
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"created_at_utc": "2026-10-27T15:05:26.439093+00:00",
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"primitive_id": "LM21",
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"session_id": "20261027_035312_session43",
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"upload_batch_id": "20261027",
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"dataset_path": "EgoMotionActions/20261027/LM21/20261027_035312_session43",
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"segment": "auto/all",
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"duration_s": 131.900033,
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"device_ids": {
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"main": "c9205ac6e17d2d5c",
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"left": "452031d7af00ef6f",
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"right": "60a6f081bbe60b0d"
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},
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"mocap_rigid_names": [
|
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"BigBox2",
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"Body0",
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| 18 |
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"Tracker0"
|
| 19 |
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],
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| 20 |
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"objects": [
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"BigBox2"
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],
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"options": {
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"raw_video": true,
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"proxy_bitrate": "1400k",
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"mocap_selection": "explicit",
|
| 29 |
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"mocap_files": [
|
| 30 |
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"mocap-LM21-S05-wangjingjing-01p1/mocap-LM21-S05-wangjingjing-01p1-1.mp4",
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| 31 |
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"mocap-LM21-S05-wangjingjing-01p1/mocap-LM21-S05-wangjingjing-01p1-BigBox2.csv",
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| 32 |
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"mocap-LM21-S05-wangjingjing-01p1/mocap-LM21-S05-wangjingjing-01p1-BigBox2.trc",
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/LM21/20261027_035535_session44",
|
| 4 |
+
"session_id": "20261027_035535_session44",
|
| 5 |
+
"primitive": "LM21",
|
| 6 |
+
"batch": "20261027",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T19:50:38.284253+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": 118.025,
|
| 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": -0.089686,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9874,
|
| 32 |
+
"reference_imu_first_sample_s": 12564.566875195,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9869963871820707,
|
| 36 |
+
"drift_ppm": 8.151201573456078,
|
| 37 |
+
"drift_se_ppm": 7.742796130536378,
|
| 38 |
+
"drift_ms_over_take": 0.9619776390273748,
|
| 39 |
+
"lag_scatter_ms": 0.6290277312374425,
|
| 40 |
+
"lag_range_ms": 2.176823274148698
|
| 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 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 24018,
|
| 76 |
+
"n_gyro": 24013,
|
| 77 |
+
"t_start": -0.0965824277479877,
|
| 78 |
+
"t_end": 118.21141657825342
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 23872,
|
| 82 |
+
"n_gyro": 23865,
|
| 83 |
+
"t_start": 0.009341280252785633,
|
| 84 |
+
"t_end": 118.37562015225217
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 23903,
|
| 88 |
+
"n_gyro": 23917,
|
| 89 |
+
"t_start": -0.8510374127470166,
|
| 90 |
+
"t_end": 117.28387318625232
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 23919,
|
| 94 |
+
"n_gyro": 23931,
|
| 95 |
+
"t_start": -0.8559711037466948,
|
| 96 |
+
"t_end": 117.28347605525255
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 11846,
|
| 100 |
+
"t_start": 0.09353844725251487,
|
| 101 |
+
"t_end": 118.54352275325277
|
| 102 |
+
},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 11813,
|
| 105 |
+
"t_start": -0.8434024947471224,
|
| 106 |
+
"t_end": 117.27654553625348
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 11812,
|
| 110 |
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"t_start": -0.8344786707473284,
|
| 111 |
+
"t_end": 117.27568271025325
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
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"start_device_s": 12564.693335,
|
| 118 |
+
"frames": 3540,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03940239390090222,
|
| 124 |
+
"t_end": 118.00596939390039,
|
| 125 |
+
"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 12564.693304,
|
| 131 |
+
"frames": 3540,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039161072869548785,
|
| 137 |
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"t_end": 118.00573907286912,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
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"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
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"start_device_s": 12564.693325,
|
| 144 |
+
"frames": 3540,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
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"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
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"t_start": 0.03922290531977718,
|
| 150 |
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"t_end": 118.00578990531926,
|
| 151 |
+
"clock": "device",
|
| 152 |
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"calibrated": true
|
| 153 |
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},
|
| 154 |
+
"right_front": {
|
| 155 |
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"fps": 30.0,
|
| 156 |
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"start_device_s": 12564.693344,
|
| 157 |
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"frames": 3540,
|
| 158 |
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"pts_gaps": 0,
|
| 159 |
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"timing": "pts",
|
| 160 |
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"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
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"t_start": 0.03892503972588396,
|
| 163 |
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"t_end": 118.00549203972537,
|
| 164 |
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"clock": "device",
|
| 165 |
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"calibrated": true
|
| 166 |
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},
|
| 167 |
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"left_eye": {
|
| 168 |
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"fps": 60.0,
|
| 169 |
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"start_device_s": 12564.693314,
|
| 170 |
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"frames": 3440,
|
| 171 |
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"pts_gaps": 3439,
|
| 172 |
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"timing": "pts (gap undecided)",
|
| 173 |
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"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
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"gap_test": {
|
| 175 |
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"pts": {
|
| 176 |
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"offset_ms": -7.1,
|
| 177 |
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"corr": 0.624,
|
| 178 |
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"err_ms": 9.9
|
| 179 |
+
},
|
| 180 |
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"nominal": {
|
| 181 |
+
"offset_ms": 150.0,
|
| 182 |
+
"corr": 0.078,
|
| 183 |
+
"err_ms": 147.2
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
+
"t_start": 0.03955494284878308,
|
| 188 |
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"t_end": 118.02277694284953,
|
| 189 |
+
"clock": "device",
|
| 190 |
+
"calibrated": true
|
| 191 |
+
},
|
| 192 |
+
"right_eye": {
|
| 193 |
+
"fps": 30.0,
|
| 194 |
+
"start_device_s": 12564.693287,
|
| 195 |
+
"frames": 3540,
|
| 196 |
+
"pts_gaps": 0,
|
| 197 |
+
"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": 0.002930366888236734,
|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.03965632514177936,
|
| 201 |
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"t_end": 118.00623432514135,
|
| 202 |
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"clock": "device",
|
| 203 |
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"calibrated": true
|
| 204 |
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},
|
| 205 |
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"wrist_left": {
|
| 206 |
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"fps": 30.0,
|
| 207 |
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"start_device_s": 12563.809128,
|
| 208 |
+
"frames": 3543,
|
| 209 |
+
"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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"timeshift_cam_imu_s": null,
|
| 212 |
+
"file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
|
| 213 |
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"t_start": -0.8474330417463969,
|
| 214 |
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"t_end": 117.2193639582531,
|
| 215 |
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"clock": "device",
|
| 216 |
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"calibrated": false
|
| 217 |
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},
|
| 218 |
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"wrist_right": {
|
| 219 |
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"fps": 30.0,
|
| 220 |
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"start_device_s": 12563.80193,
|
| 221 |
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"frames": 3544,
|
| 222 |
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"pts_gaps": 0,
|
| 223 |
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"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
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"file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
+
"t_start": -0.8546310417475504,
|
| 227 |
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"t_end": 117.24530395825263,
|
| 228 |
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"clock": "device",
|
| 229 |
+
"calibrated": false
|
| 230 |
+
},
|
| 231 |
+
"third_person": {
|
| 232 |
+
"file": "mocap/mocap-LM21-S06-wangjingjing-01p1-1.mp4",
|
| 233 |
+
"frames": 3541,
|
| 234 |
+
"fps": 30.0,
|
| 235 |
+
"clock": "nokov (frame index)",
|
| 236 |
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"t_start": 0.0,
|
| 237 |
+
"t_end": 118.0
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
+
"rig_tracker": {
|
| 244 |
+
"definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-cdc308e7a4bc2c0e",
|
| 245 |
+
"R_tracker0_imu0": [
|
| 246 |
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[
|
| 247 |
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-0.6607883,
|
| 248 |
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0.37195967,
|
| 249 |
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-0.65192394
|
| 250 |
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],
|
| 251 |
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[
|
| 252 |
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0.73057322,
|
| 253 |
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0.11957382,
|
| 254 |
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-0.67228333
|
| 255 |
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],
|
| 256 |
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[
|
| 257 |
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-0.17210924,
|
| 258 |
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-0.92051513,
|
| 259 |
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-0.35075676
|
| 260 |
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]
|
| 261 |
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],
|
| 262 |
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"p_tracker0_imu0_m": [
|
| 263 |
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-0.11701995615981002,
|
| 264 |
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-0.005736923090629067,
|
| 265 |
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-0.12236564199818982
|
| 266 |
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],
|
| 267 |
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"rig_check": {
|
| 268 |
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"gyro_samples": 3867,
|
| 269 |
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"gyro_max_deg": 2.5,
|
| 270 |
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"status": "ok",
|
| 271 |
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"dropped_marker": null,
|
| 272 |
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"gyro_deg": 1.806
|
| 273 |
+
},
|
| 274 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 275 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 276 |
+
},
|
| 277 |
+
"canonical": {
|
| 278 |
+
"generated_at_utc": "2026-10-28T23:23:28.565636+00:00",
|
| 279 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 280 |
+
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 281 |
+
"R_canon_nokov": [
|
| 282 |
+
[
|
| 283 |
+
0.9999917896,
|
| 284 |
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0.0040522361,
|
| 285 |
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1.40821e-05
|
| 286 |
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],
|
| 287 |
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[
|
| 288 |
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-1.40821e-05,
|
| 289 |
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0.0069501878,
|
| 290 |
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-0.9999758471
|
| 291 |
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],
|
| 292 |
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[
|
| 293 |
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-0.0040522361,
|
| 294 |
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0.9999676366,
|
| 295 |
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0.0069501878
|
| 296 |
+
]
|
| 297 |
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],
|
| 298 |
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"scale_nokov_to_canon": 0.001,
|
| 299 |
+
"T_canon_nokov_mm": [
|
| 300 |
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[
|
| 301 |
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0.00099999179,
|
| 302 |
+
4.052236e-06,
|
| 303 |
+
1.4082e-08,
|
| 304 |
+
0.0
|
| 305 |
+
],
|
| 306 |
+
[
|
| 307 |
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-1.4082e-08,
|
| 308 |
+
6.950188e-06,
|
| 309 |
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-0.000999975847,
|
| 310 |
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0.0
|
| 311 |
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],
|
| 312 |
+
[
|
| 313 |
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-4.052236e-06,
|
| 314 |
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0.000999967637,
|
| 315 |
+
6.950188e-06,
|
| 316 |
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0.0
|
| 317 |
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],
|
| 318 |
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[
|
| 319 |
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0.0,
|
| 320 |
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0.0,
|
| 321 |
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0.0,
|
| 322 |
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1.0
|
| 323 |
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]
|
| 324 |
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],
|
| 325 |
+
"block": "20261027-morning",
|
| 326 |
+
"block_assignment": "trc",
|
| 327 |
+
"tilt_removed_deg": 0.46096270469771533,
|
| 328 |
+
"plane_status": "ok",
|
| 329 |
+
"floor": {
|
| 330 |
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"sole_marker_p1_mm": 27.7,
|
| 331 |
+
"headtop_p95_mm": 1517.7
|
| 332 |
+
},
|
| 333 |
+
"gravity_check": {
|
| 334 |
+
"static_samples": 906,
|
| 335 |
+
"g_world_mean_m_s2": [
|
| 336 |
+
-0.0238,
|
| 337 |
+
0.0193,
|
| 338 |
+
9.71
|
| 339 |
+
],
|
| 340 |
+
"tilt_from_z_deg": 0.181,
|
| 341 |
+
"tilt_from_z_deg_before_levelling": 0.469,
|
| 342 |
+
"magnitude_m_s2": 9.7101
|
| 343 |
+
},
|
| 344 |
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{
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| 261 |
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| 262 |
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| 263 |
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| 271 |
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| 283 |
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actions/locomanipulation/LM21/session_033/raw/mocap/BigBox2.trc
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actions/locomanipulation/LM21/session_033/raw/mocap/Body0.bvh
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