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- .gitattributes +43 -0
- actions/locomanipulation/LM40/session_031/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_031/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_031/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM40/session_031/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_031/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_031/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM40/session_031/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM40/session_031/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM40/session_031/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM40/session_031/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM40/session_031/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM40/session_031/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM40/session_031/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM40/session_031/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM40/session_032/cameras/poses.npz +3 -0
- actions/locomanipulation/LM40/session_032/meta.json +521 -0
- actions/locomanipulation/LM40/session_032/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM40/session_032/motions/markers.npz +3 -0
- actions/locomanipulation/LM40/session_032/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM40/session_032/motions/smplx.npz +3 -0
- actions/locomanipulation/LM40/session_032/raw/audio.wav +3 -0
- actions/locomanipulation/LM40/session_032/raw/manifest.json +284 -0
- actions/locomanipulation/LM40/session_032/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM40/session_032/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM40/session_032/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM40/session_032/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM40/session_032/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM40/session_032/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM40/session_032/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM40/session_032/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_032/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_032/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM40/session_032/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM40/session_032/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM40/session_032/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM40/session_032/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM40/session_032/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM40/session_032/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM40/session_032/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM40/session_032/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM40/session_032/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM40/session_032/videos/head_left.mp4 +3 -0
.gitattributes
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actions/locomanipulation/LM40/session_030/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM40/session_031/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261021/LM40/20261021_083851_session54",
|
| 4 |
+
"session_id": "20261021_083851_session54",
|
| 5 |
+
"primitive": "LM40",
|
| 6 |
+
"batch": "20261021",
|
| 7 |
+
"participant": "wangmengli",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-26T04:50:10.404173+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": 121.025,
|
| 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": -0.092913,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9656,
|
| 32 |
+
"reference_imu_first_sample_s": 16574.019410183,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.973181252581429,
|
| 36 |
+
"drift_ppm": -495.29642758728403,
|
| 37 |
+
"drift_se_ppm": 284.91740533880113,
|
| 38 |
+
"drift_ms_over_take": -59.93912267852116,
|
| 39 |
+
"lag_scatter_ms": 27.029638376880893,
|
| 40 |
+
"lag_range_ms": 110.45890529146102
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
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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 |
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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 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 24630,
|
| 76 |
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"n_gyro": 24626,
|
| 77 |
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"t_start": -0.0998094741617099,
|
| 78 |
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"t_end": 121.22071038783632
|
| 79 |
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},
|
| 80 |
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"imu_head_left": {
|
| 81 |
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"n_acc": 24481,
|
| 82 |
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"n_gyro": 24474,
|
| 83 |
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"t_start": 0.005316233838122325,
|
| 84 |
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"t_end": 121.38858726283523
|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 24339,
|
| 88 |
+
"n_gyro": 24351,
|
| 89 |
+
"t_start": -0.838145171163895,
|
| 90 |
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"t_end": 119.44291474183863
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 24351,
|
| 94 |
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"n_gyro": 24362,
|
| 95 |
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"t_start": -0.8219949461627114,
|
| 96 |
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"t_end": 119.44108025583863
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 12147,
|
| 100 |
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"t_start": 0.08739181683721811,
|
| 101 |
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"t_end": 121.54738516683663
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 12027,
|
| 105 |
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"t_start": -0.8211586641618926,
|
| 106 |
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"t_end": 119.43908274483782
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 12025,
|
| 110 |
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"t_start": -0.8036411881612442,
|
| 111 |
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"t_end": 119.43618804283777
|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 16574.149588,
|
| 118 |
+
"frames": 3630,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"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": 0.03989360148351964,
|
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