Release update 2026-11-05: new sessions, instructions, annotations (part 79)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +12 -0
- actions/locomanipulation/LM17/session_049/motions/objects.json +58 -0
- actions/locomanipulation/LM17/session_049/motions/objects.npz +3 -0
- actions/locomanipulation/LM17/session_049/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM17/session_049/motions/smplx.npz +3 -0
- actions/locomanipulation/LM17/session_049/raw/audio.wav +3 -0
- actions/locomanipulation/LM17/session_049/raw/manifest.json +308 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/Body0.bvh +3 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/LittleBox1.csv +0 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/LittleBox1.trc +0 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/Table-zi.csv +0 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/Table-zi.trc +0 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM17/session_049/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM17/session_049/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM17/session_049/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM17/session_049/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM17/session_049/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM17/session_049/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM17/session_049/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM17/session_049/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM17/session_049/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM17/session_049/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM17/session_049/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM17/session_050/cameras/poses.npz +3 -0
- actions/locomanipulation/LM17/session_050/meta.json +528 -0
- actions/locomanipulation/LM17/session_050/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM17/session_050/motions/markers.npz +3 -0
- actions/locomanipulation/LM17/session_050/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM17/session_050/motions/objects.json +58 -0
- actions/locomanipulation/LM17/session_050/motions/objects.npz +3 -0
- actions/locomanipulation/LM17/session_050/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM17/session_050/motions/smplx.npz +3 -0
- actions/locomanipulation/LM17/session_050/raw/audio.wav +3 -0
- actions/locomanipulation/LM17/session_050/raw/manifest.json +308 -0
- actions/locomanipulation/LM17/session_050/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM17/session_050/raw/mocap/Body0.csv +3 -0
.gitattributes
CHANGED
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@@ -44581,3 +44581,15 @@ actions/locomanipulation/LM17/session_048/raw/sensors/robowrist_imu_left.db filt
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| 44581 |
actions/locomanipulation/LM17/session_048/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM17/session_048/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM17/session_048/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 44581 |
actions/locomanipulation/LM17/session_048/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 44582 |
actions/locomanipulation/LM17/session_048/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 44583 |
actions/locomanipulation/LM17/session_048/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM17/session_049/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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| 44585 |
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actions/locomanipulation/LM17/session_049/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM17/session_049/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 44587 |
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actions/locomanipulation/LM17/session_049/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 44588 |
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actions/locomanipulation/LM17/session_049/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 44589 |
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actions/locomanipulation/LM17/session_049/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 44590 |
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actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 44591 |
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actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 44592 |
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actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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| 44593 |
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actions/locomanipulation/LM17/session_049/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM17/session_050/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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| 44595 |
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actions/locomanipulation/LM17/session_050/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM17/session_049/motions/objects.json
ADDED
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@@ -0,0 +1,58 @@
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{
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"session": "20261027/LM17/20261027_042537_session37",
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"generated_at_utc": "2026-11-04T19:53:19.811298+00:00",
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"generated_by": "scripts/export_objects.py",
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
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"grid": "body grid (smplx.npz t / frame_index)",
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"held_by": "from mocap hands",
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"instances": [
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{
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"name": "zi",
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"object_type": "zi",
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"source": "mocap",
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"pose_frame": "rigid_body",
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"mesh": null,
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"calibration": null,
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"valid_pct": 1.66,
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"verified_pct": 1.53,
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"moving_pct": 0.77,
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"vision_source": null
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}
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],
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"absent": [
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{
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"name": "LittleBox1",
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"object_type": "LittleBox",
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"valid_s": 0.0
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}
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],
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"object_list": {
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"status": "corrected",
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"notes": [],
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"declared": [
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"LittleBox1",
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"TableZi0"
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],
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"listed": [
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{
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"name": "LittleBox1",
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"object": "LittleBox",
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"source": "mocap",
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"needs_video_check": false
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},
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{
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"name": "zi",
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"object": null,
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"source": "mocap",
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"needs_video_check": false
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},
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{
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| 50 |
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"name": "TableZi0",
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| 51 |
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"object": null,
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"source": "manifest_only (no mocap rigid body)",
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"needs_video_check": false
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}
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]
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},
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"notes": []
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}
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actions/locomanipulation/LM17/session_049/motions/objects.npz
ADDED
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actions/locomanipulation/LM17/session_049/motions/skeleton.npz
ADDED
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actions/locomanipulation/LM17/session_049/motions/smplx.npz
ADDED
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actions/locomanipulation/LM17/session_049/raw/audio.wav
ADDED
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actions/locomanipulation/LM17/session_049/raw/manifest.json
ADDED
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{
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| 2 |
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"schema_version": 1,
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| 3 |
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"created_at_utc": "2026-10-27T20:50:40.627104+00:00",
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| 4 |
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"primitive_id": "LM17",
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| 5 |
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"session_id": "20261027_042537_session37",
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| 6 |
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"upload_batch_id": "20261027",
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/LM17/20261027_042820_session38",
|
| 4 |
+
"session_id": "20261027_042820_session38",
|
| 5 |
+
"primitive": "LM17",
|
| 6 |
+
"batch": "20261027",
|
| 7 |
+
"participant": "xiaobo",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "75b5984e04d1d236",
|
| 12 |
+
"right": "c84bc808cb6b47af"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T19:49:46.257947+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": 126.825,
|
| 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": -0.093547,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9741,
|
| 32 |
+
"reference_imu_first_sample_s": 12091.394537123,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9967742374410211,
|
| 36 |
+
"drift_ppm": -495.87863845995474,
|
| 37 |
+
"drift_se_ppm": 286.440182273471,
|
| 38 |
+
"drift_ms_over_take": -62.8856760006966,
|
| 39 |
+
"lag_scatter_ms": 27.174101681338684,
|
| 40 |
+
"lag_range_ms": 109.65419729197376
|
| 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": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25614,
|
| 76 |
+
"n_gyro": 25609,
|
| 77 |
+
"t_start": -0.10049566827327447,
|
| 78 |
+
"t_end": 127.03145626272673
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25491,
|
| 82 |
+
"n_gyro": 25485,
|
| 83 |
+
"t_start": 0.005890914726856017,
|
| 84 |
+
"t_end": 127.19466592772771
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25416,
|
| 88 |
+
"n_gyro": 25429,
|
| 89 |
+
"t_start": -0.8621414602726736,
|
| 90 |
+
"t_end": 125.58653815672771
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25649,
|
| 94 |
+
"n_gyro": 25660,
|
| 95 |
+
"t_start": -0.9557361682724013,
|
| 96 |
+
"t_end": 125.59040490372756
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12728,
|
| 100 |
+
"t_start": 0.08851570672815348,
|
| 101 |
+
"t_end": 127.35851205872716
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12644,
|
| 105 |
+
"t_start": -0.8502695552720843,
|
| 106 |
+
"t_end": 125.57996258372661
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12653,
|
| 110 |
+
"t_start": -0.9378141752727833,
|
| 111 |
+
"t_end": 125.58258160272673
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 12091.525322,
|
| 118 |
+
"frames": 3804,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03979221816954584,
|
| 124 |
+
"t_end": 126.80651421816985,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 12091.525305,
|
| 131 |
+
"frames": 3804,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03958745280434875,
|
| 137 |
+
"t_end": 126.80626545280431,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 12091.525316,
|
| 144 |
+
"frames": 3804,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.039904437935924825,
|
| 150 |
+
"t_end": 126.80661543793614,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 12091.525327,
|
| 157 |
+
"frames": 3804,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.039838161219827334,
|
| 163 |
+
"t_end": 126.80657116122022,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 12091.52531,
|
| 170 |
+
"frames": 3804,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.03961995281898914,
|
| 176 |
+
"t_end": 126.80631995281912,
|
| 177 |
+
"clock": "device",
|
| 178 |
+
"calibrated": true
|
| 179 |
+
},
|
| 180 |
+
"right_eye": {
|
| 181 |
+
"fps": 30.0,
|
| 182 |
+
"start_device_s": 12091.525296,
|
| 183 |
+
"frames": 3804,
|
| 184 |
+
"pts_gaps": 0,
|
| 185 |
+
"timing": "pts",
|
| 186 |
+
"timeshift_cam_imu_s": 0.002315656053021164,
|
| 187 |
+
"file": "robocap_segment1_video_right_eye.mp4",
|
| 188 |
+
"t_start": 0.03952722278010248,
|
| 189 |
+
"t_end": 126.80619422277998,
|
| 190 |
+
"clock": "device",
|
| 191 |
+
"calibrated": true
|
| 192 |
+
},
|
| 193 |
+
"wrist_left": {
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"start_device_s": 12090.598423,
|
| 196 |
+
"frames": 3794,
|
| 197 |
+
"pts_gaps": 0,
|
| 198 |
+
"timing": "pts",
|
| 199 |
+
"timeshift_cam_imu_s": null,
|
| 200 |
+
"file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
|
| 201 |
+
"t_start": -0.8896614332730541,
|
| 202 |
+
"t_end": 125.54406256672739,
|
| 203 |
+
"clock": "device",
|
| 204 |
+
"calibrated": false
|
| 205 |
+
},
|
| 206 |
+
"wrist_right": {
|
| 207 |
+
"fps": 30.0,
|
| 208 |
+
"start_device_s": 12090.617467,
|
| 209 |
+
"frames": 3793,
|
| 210 |
+
"pts_gaps": 0,
|
| 211 |
+
"timing": "pts",
|
| 212 |
+
"timeshift_cam_imu_s": null,
|
| 213 |
+
"file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
|
| 214 |
+
"t_start": -0.8706174332724776,
|
| 215 |
+
"t_end": 125.52964256672787,
|
| 216 |
+
"clock": "device",
|
| 217 |
+
"calibrated": false
|
| 218 |
+
},
|
| 219 |
+
"third_person": {
|
| 220 |
+
"file": "mocap/mocap-LM17-S02-xiaobo-01p2-1.mp4",
|
| 221 |
+
"frames": 3805,
|
| 222 |
+
"fps": 30.0,
|
| 223 |
+
"clock": "nokov (frame index)",
|
| 224 |
+
"t_start": 0.0,
|
| 225 |
+
"t_end": 126.8
|
| 226 |
+
}
|
| 227 |
+
}
|
| 228 |
+
},
|
| 229 |
+
"flags": [],
|
| 230 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 231 |
+
"rig_tracker": {
|
| 232 |
+
"definition": "e3296774a321bb51/20261027-morning/labels-235140/session-bb39e3d2b539cf34",
|
| 233 |
+
"R_tracker0_imu0": [
|
| 234 |
+
[
|
| 235 |
+
0.01801153,
|
| 236 |
+
0.95209745,
|
| 237 |
+
0.30526388
|
| 238 |
+
],
|
| 239 |
+
[
|
| 240 |
+
0.69710838,
|
| 241 |
+
-0.23082409,
|
| 242 |
+
0.67879315
|
| 243 |
+
],
|
| 244 |
+
[
|
| 245 |
+
0.71673948,
|
| 246 |
+
0.20057591,
|
| 247 |
+
-0.66787261
|
| 248 |
+
]
|
| 249 |
+
],
|
| 250 |
+
"p_tracker0_imu0_m": [
|
| 251 |
+
0.02872737106259954,
|
| 252 |
+
0.17944529328011247,
|
| 253 |
+
-0.020827757794260496
|
| 254 |
+
],
|
| 255 |
+
"rig_check": {
|
| 256 |
+
"gyro_samples": 3915,
|
| 257 |
+
"gyro_max_deg": 2.5,
|
| 258 |
+
"status": "video_solve",
|
| 259 |
+
"dropped_marker": null,
|
| 260 |
+
"gyro_deg": 1.612,
|
| 261 |
+
"video_solve": {
|
| 262 |
+
"status": "ok",
|
| 263 |
+
"reason": "",
|
| 264 |
+
"reprojection_px": 2.906,
|
| 265 |
+
"n_assoc": 531,
|
| 266 |
+
"gyro_deg": 1.612
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 270 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 271 |
+
},
|
| 272 |
+
"canonical": {
|
| 273 |
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