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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261017/LM24/20261017_020406_session15",
|
| 4 |
+
"session_id": "20261017_020406_session15",
|
| 5 |
+
"primitive": "LM24",
|
| 6 |
+
"batch": "20261017",
|
| 7 |
+
"participant": "fengyixuan",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "e3296774a321bb51",
|
| 11 |
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"left": "75b5984e04d1d236",
|
| 12 |
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"right": "c84bc808cb6b47af"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-22T15:55:37.371152+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": 112.825,
|
| 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": -0.088926,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9956,
|
| 32 |
+
"reference_imu_first_sample_s": 5048.28593969,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9961377312469756,
|
| 36 |
+
"drift_ppm": -4.008074226713762,
|
| 37 |
+
"drift_se_ppm": 14.133112426332284,
|
| 38 |
+
"drift_ms_over_take": -0.4521775740104242,
|
| 39 |
+
"lag_scatter_ms": 1.1481794812856119,
|
| 40 |
+
"lag_range_ms": 3.8827513841674377
|
| 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 |
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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 |
+
],
|
| 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 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 22790,
|
| 76 |
+
"n_gyro": 22783,
|
| 77 |
+
"t_start": -0.10084474829161756,
|
| 78 |
+
"t_end": 113.00605102570827
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 22681,
|
| 82 |
+
"n_gyro": 22676,
|
| 83 |
+
"t_start": 0.008073171708222235,
|
| 84 |
+
"t_end": 113.16796226970766
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 22562,
|
| 88 |
+
"n_gyro": 22574,
|
| 89 |
+
"t_start": -0.9119220972923153,
|
| 90 |
+
"t_end": 111.32938415670762
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
+
"n_acc": 22746,
|
| 94 |
+
"n_gyro": 22746,
|
| 95 |
+
"t_start": -0.8879802282915784,
|
| 96 |
+
"t_end": 111.32477511070758
|
| 97 |
+
},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 11325,
|
| 100 |
+
"t_start": 0.08940300170818098,
|
| 101 |
+
"t_end": 113.32938897270762
|
| 102 |
+
},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 11223,
|
| 105 |
+
"t_start": -0.8951789372920552,
|
| 106 |
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"t_end": 111.32502394970763
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 11220,
|
| 110 |
+
"t_start": -0.8702544912919415,
|
| 111 |
+
"t_end": 111.31976204570785
|
| 112 |
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}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
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],
|
| 499 |
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"in_out_sign": 1,
|
| 500 |
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"wrist_bend_deg_median": 90.0,
|
| 501 |
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"opposite_sign_bend_deg": 107.7,
|
| 502 |
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"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 503 |
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"marker_frame_spread_deg": 2.78,
|
| 504 |
+
"hand_vs_marker_frame_deg": {
|
| 505 |
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"before": 85.78,
|
| 506 |
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"after": 2.78
|
| 507 |
+
},
|
| 508 |
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"markers_on_wrist": [
|
| 509 |
+
"RWristOut",
|
| 510 |
+
"RHandIn",
|
| 511 |
+
"RHandOut"
|
| 512 |
+
],
|
| 513 |
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"forearm_twist": {
|
| 514 |
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"twist_moved_deg": -86.81,
|
| 515 |
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"wrist_twist_deg_after": {
|
| 516 |
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"median": -0.0,
|
| 517 |
+
"iqr": [
|
| 518 |
+
-13.6,
|
| 519 |
+
4.1
|
| 520 |
+
]
|
| 521 |
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},
|
| 522 |
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"wrist_total_deg_median_after": 26.1,
|
| 523 |
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"markers_on_forearm": [
|
| 524 |
+
"RElbowIn",
|
| 525 |
+
"RForearm",
|
| 526 |
+
"RWristIn"
|
| 527 |
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]
|
| 528 |
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},
|
| 529 |
+
"frames_used": 1354
|
| 530 |
+
},
|
| 531 |
+
"generated_at_utc": "2026-10-23T03:21:09.155946+00:00",
|
| 532 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"release": {
|
| 536 |
+
"release_path": "actions/locomanipulation/LM24/session_015",
|
| 537 |
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"family": "locomanipulation",
|
| 538 |
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"primitive": "LM24",
|
| 539 |
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"source_session": "20261017/LM24/20261017_020406_session15"
|
| 540 |
+
}
|
| 541 |
+
}
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"created_at_utc": "2026-10-18T05:16:01.364813+00:00",
|
| 4 |
+
"primitive_id": "LM24",
|
| 5 |
+
"session_id": "20261017_020406_session15",
|
| 6 |
+
"upload_batch_id": "20261017",
|
| 7 |
+
"dataset_path": "EgoMotionActions/20261017/LM24/20261017_020406_session15",
|
| 8 |
+
"segment": "auto/all",
|
| 9 |
+
"duration_s": 112.766622,
|
| 10 |
+
"device_ids": {
|
| 11 |
+
"main": "e3296774a321bb51",
|
| 12 |
+
"left": "75b5984e04d1d236",
|
| 13 |
+
"right": "c84bc808cb6b47af"
|
| 14 |
+
},
|
| 15 |
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"mocap_rigid_names": [
|
| 16 |
+
"bigbox1",
|
| 17 |
+
"Body0",
|
| 18 |
+
"CcBlue",
|
| 19 |
+
"CcGreen",
|
| 20 |
+
"CcOrange",
|
| 21 |
+
"CcRed",
|
| 22 |
+
"CcYellow",
|
| 23 |
+
"Tracker0"
|
| 24 |
+
],
|
| 25 |
+
"objects": [
|
| 26 |
+
{
|
| 27 |
+
"name": "BigBox",
|
| 28 |
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"num": 1,
|
| 29 |
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"scan_file": "3dobjs/BigBox.objcap/models/BigBox[0, 1, 2, ,3 ,4, 5].usdz",
|
| 30 |
+
"rigid_names": [
|
| 31 |
+
"bigbox1"
|
| 32 |
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]
|
| 33 |
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},
|
| 34 |
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{
|
| 35 |
+
"name": "CcBlue",
|
| 36 |
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"num": 1,
|
| 37 |
+
"scan_file": "3dobjs/CcBlue.objcap/models/未命名对象 3.usdz",
|
| 38 |
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"rigid_names": [
|
| 39 |
+
"CcBlue"
|
| 40 |
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]
|
| 41 |
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},
|
| 42 |
+
{
|
| 43 |
+
"name": "CcGreen",
|
| 44 |
+
"num": 1,
|
| 45 |
+
"scan_file": "3dobjs/CcGreen.objcap/models/CcGreen.usdz",
|
| 46 |
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"rigid_names": [
|
| 47 |
+
"CcGreen"
|
| 48 |
+
]
|
| 49 |
+
},
|
| 50 |
+
{
|
| 51 |
+
"name": "CcOrange",
|
| 52 |
+
"num": 1,
|
| 53 |
+
"scan_file": "3dobjs/CcOrange.objcap/models/橘色锥桶.usdz",
|
| 54 |
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"rigid_names": [
|
| 55 |
+
"CcOrange"
|
| 56 |
+
]
|
| 57 |
+
},
|
| 58 |
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{
|
| 59 |
+
"name": "CcRed",
|
| 60 |
+
"num": 1,
|
| 61 |
+
"scan_file": "3dobjs/CcRed.objcap/models/未命名对象 2.usdz",
|
| 62 |
+
"rigid_names": [
|
| 63 |
+
"CcRed"
|
| 64 |
+
]
|
| 65 |
+
},
|
| 66 |
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{
|
| 67 |
+
"name": "CcYellow",
|
| 68 |
+
"num": 1,
|
| 69 |
+
"scan_file": "3dobjs/CcYellow.objcap/models/黄色锥桶.usdz",
|
| 70 |
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"rigid_names": [
|
| 71 |
+
"CcYellow"
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
],
|
| 75 |
+
"options": {
|
| 76 |
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"raw_video": true,
|
| 77 |
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"proxy_height": 540,
|
| 78 |
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|
| 79 |
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"proxy_bitrate": "1400k",
|
| 80 |
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"mocap_selection": "explicit",
|
| 81 |
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"mocap_files": [
|
| 82 |
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|
| 83 |
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"mocap-LM24-S02-fengyixuan-01p1/mocap-LM24-S02-fengyixuan-01p1-bigbox1.csv",
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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