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- .gitattributes +31 -0
- actions/locomanipulation/LM35/session_022/raw/sensors/robocap_imu_left.db +3 -0
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- actions/locomanipulation/LM35/session_022/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM35/session_022/scene/infer.json +36 -0
- actions/locomanipulation/LM35/session_022/scene/views.npz +3 -0
- actions/locomanipulation/LM35/session_022/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM35/session_022/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM35/session_022/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM35/session_022/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM35/session_022/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM35/session_022/videos/head_left.mp4 +3 -0
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- actions/locomanipulation/LM35/session_022/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM35/session_022/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM35/session_022/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM35/session_022/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM35/session_022/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM35/session_022/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM35/session_022/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM35/session_023/cameras/poses.npz +3 -0
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- actions/locomanipulation/LM35/session_023/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM35/session_023/raw/sensors/robocap_imu_right.db +3 -0
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- actions/locomanipulation/LM35/session_023/raw/sensors/robowrist_imu_left.db +3 -0
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- actions/locomanipulation/LM35/session_023/raw/sensors/robowrist_mag_right.db +3 -0
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- actions/locomanipulation/LM35/session_023/scene/views.npz +3 -0
- actions/locomanipulation/LM35/session_023/sensors/head_imu.npz +3 -0
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.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261014/LM35/20261014_034345_session53",
|
| 4 |
+
"session_id": "20261014_034345_session53",
|
| 5 |
+
"primitive": "LM35",
|
| 6 |
+
"batch": "20261014",
|
| 7 |
+
"participant": "fengyixuan",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "e17c9efadb69e7b1",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "6ee5ee4472fe2ad7"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-21T05:30:47.988754+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": 134.025,
|
| 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": -1.174441,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -1.175,
|
| 31 |
+
"peak_corr": 0.9866,
|
| 32 |
+
"reference_imu_first_sample_s": 12576.487238356,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9983703588995261,
|
| 36 |
+
"drift_ppm": 4.961058320308521,
|
| 37 |
+
"drift_se_ppm": 4.363085713901596,
|
| 38 |
+
"drift_ms_over_take": 0.6648644992266803,
|
| 39 |
+
"lag_scatter_ms": 0.4139186544741247,
|
| 40 |
+
"lag_range_ms": 1.7727835361767141
|
| 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 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
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-1.0
|
| 55 |
+
],
|
| 56 |
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[
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27270,
|
| 76 |
+
"n_gyro": 27265,
|
| 77 |
+
"t_start": -1.1814408519581667,
|
| 78 |
+
"t_end": 134.77207153904274
|
| 79 |
+
},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 27221,
|
| 82 |
+
"n_gyro": 27214,
|
| 83 |
+
"t_start": -1.074884143957741,
|
| 84 |
+
"t_end": 134.93825827804213
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_left": {
|
| 87 |
+
"n_acc": 26201,
|
| 88 |
+
"n_gyro": 26214,
|
| 89 |
+
"t_start": 0.3203302690421077,
|
| 90 |
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"t_end": 129.7255614780428
|
| 91 |
+
},
|
| 92 |
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"mag_head": {
|
| 93 |
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"n": 13610,
|
| 94 |
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"t_start": -0.9895210189584651,
|
| 95 |
+
"t_end": 135.100518296042
|
| 96 |
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},
|
| 97 |
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"mag_wrist_right": {
|
| 98 |
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"n": 12968,
|
| 99 |
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"t_start": 0.06838500804261627,
|
| 100 |
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"t_end": 129.7390060630427
|
| 101 |
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},
|
| 102 |
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"mag_wrist_left": {
|
| 103 |
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"n": 12940,
|
| 104 |
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"t_start": 0.3362476150418041,
|
| 105 |
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"t_end": 129.72657959804238
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
"videos": {
|
| 109 |
+
"left": {
|
| 110 |
+
"fps": 30.0,
|
| 111 |
+
"start_device_s": 12577.698996,
|
| 112 |
+
"frames": 4020,
|
| 113 |
+
"pts_gaps": 0,
|
| 114 |
+
"timing": "pts",
|
| 115 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 116 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 117 |
+
"t_start": 0.03965937383910556,
|
| 118 |
+
"t_end": 134.0063153738396,
|
| 119 |
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"clock": "device",
|
| 120 |
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"calibrated": true
|
| 121 |
+
},
|
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|
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|
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|
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|
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|
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|
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|
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|
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