Release update 2026-11-05: new sessions, instructions, annotations (part 197)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
- actions/locomanipulation/LM24/session_025/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM24/session_025/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM24/session_025/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM24/session_025/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM24/session_025/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM24/session_025/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM24/session_025/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/cameras/poses.npz +3 -0
- actions/locomanipulation/LM24/session_026/meta.json +560 -0
- actions/locomanipulation/LM24/session_026/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM24/session_026/motions/markers.npz +3 -0
- actions/locomanipulation/LM24/session_026/motions/object_markers.npz +3 -0
- actions/locomanipulation/LM24/session_026/motions/objects.json +80 -0
- actions/locomanipulation/LM24/session_026/motions/objects.npz +3 -0
- actions/locomanipulation/LM24/session_026/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM24/session_026/motions/smplx.npz +3 -0
- actions/locomanipulation/LM24/session_026/raw/audio.wav +3 -0
- actions/locomanipulation/LM24/session_026/raw/manifest.json +330 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/BigBox2.csv +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/BigBox2.trc +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/Body0.bvh +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/CcGreen.csv +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/CcGreen.trc +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/CcRed.csv +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/CcRed.trc +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM24/session_026/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM24/session_026/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM24/session_026/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM24/session_026/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM24/session_026/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM24/session_026/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM24/session_026/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM24/session_026/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM24/session_026/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM24/session_026/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM24/session_026/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM24/session_026/videos/wrist_left.mp4 +3 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/LM24/20261027_084019_session23",
|
| 4 |
+
"session_id": "20261027_084019_session23",
|
| 5 |
+
"primitive": "LM24",
|
| 6 |
+
"batch": "20261027",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T19:51:54.874638+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": 108.225,
|
| 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": -0.093842,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9969,
|
| 32 |
+
"reference_imu_first_sample_s": 2028.85138369,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 9,
|
| 35 |
+
"window_corr_median": 0.9979068422042728,
|
| 36 |
+
"drift_ppm": -20.700597650043157,
|
| 37 |
+
"drift_se_ppm": 14.406199755706448,
|
| 38 |
+
"drift_ms_over_take": -2.2401496756955037,
|
| 39 |
+
"lag_scatter_ms": 0.9841307974753546,
|
| 40 |
+
"lag_range_ms": 3.988718460645524
|
| 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 |
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"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 21861,
|
| 76 |
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"n_gyro": 21855,
|
| 77 |
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"t_start": -0.10079196259534368,
|
| 78 |
+
"t_end": 108.40299648840465
|
| 79 |
+
},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 21758,
|
| 82 |
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"n_gyro": 21751,
|
| 83 |
+
"t_start": 0.004673537404692951,
|
| 84 |
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"t_end": 108.56712608840445
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
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"n_acc": 21798,
|
| 88 |
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"n_gyro": 21798,
|
| 89 |
+
"t_start": -0.8194283275954095,
|
| 90 |
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"t_end": 106.62328866640456
|
| 91 |
+
},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 21694,
|
| 94 |
+
"n_gyro": 21695,
|
| 95 |
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"t_start": -0.8785072855952822,
|
| 96 |
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"t_end": 106.62011691940444
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 10865,
|
| 100 |
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"t_start": 0.08788895340472297,
|
| 101 |
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"t_end": 108.72796933940464
|
| 102 |
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},
|
| 103 |
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|
| 104 |
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"n": 10608,
|
| 105 |
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"t_start": -0.8015218575953387,
|
| 106 |
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"t_end": 106.61849108840471
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 10749,
|
| 110 |
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"t_start": -0.8617048915952583,
|
| 111 |
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|
| 112 |
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}
|
| 113 |
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},
|
| 114 |
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|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 2028.982421,
|
| 118 |
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"frames": 3246,
|
| 119 |
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|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.03975034684781892,
|
| 124 |
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"t_end": 108.20646134684813,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
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"start_device_s": 2028.982388,
|
| 131 |
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"frames": 3246,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
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"file": "robocap_segment1_video_right.mp4",
|
| 136 |
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"t_start": 0.0395295814819801,
|
| 137 |
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"t_end": 108.20622958148198,
|
| 138 |
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"clock": "device",
|
| 139 |
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"calibrated": true
|
| 140 |
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},
|
| 141 |
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"left_front": {
|
| 142 |
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"fps": 30.0,
|
| 143 |
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"start_device_s": 2028.98241,
|
| 144 |
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"frames": 3246,
|
| 145 |
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"pts_gaps": 0,
|
| 146 |
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"timing": "pts",
|
| 147 |
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"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
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"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
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"t_start": 0.03985756661295997,
|
| 150 |
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"t_end": 108.20655756661318,
|
| 151 |
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"clock": "device",
|
| 152 |
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"calibrated": true
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| 153 |
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},
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| 154 |
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"right_front": {
|
| 155 |
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"fps": 30.0,
|
| 156 |
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"start_device_s": 2028.982431,
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| 157 |
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"frames": 3246,
|
| 158 |
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| 159 |
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"timing": "pts",
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| 160 |
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| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
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| 162 |
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| 163 |
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| 164 |
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"clock": "device",
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| 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": 2028.9824,
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| 170 |
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"frames": 3235,
|
| 171 |
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|
| 172 |
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"timing": "pts (gap undecided)",
|
| 173 |
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|
| 174 |
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|
| 175 |
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"pts": {
|
| 176 |
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"offset_ms": -1.2,
|
| 177 |
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"corr": 0.924,
|
| 178 |
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"err_ms": 3.5
|
| 179 |
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},
|
| 180 |
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"nominal": {
|
| 181 |
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"offset_ms": -150.0,
|
| 182 |
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"corr": -0.02,
|
| 183 |
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"err_ms": 152.4
|
| 184 |
+
}
|
| 185 |
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},
|
| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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"t_start": 0.03956908149580701,
|
| 188 |
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"t_end": 108.22276908149598,
|
| 189 |
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"clock": "device",
|
| 190 |
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"calibrated": true
|
| 191 |
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},
|
| 192 |
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"right_eye": {
|
| 193 |
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"fps": 30.0,
|
| 194 |
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"start_device_s": 2028.982363,
|
| 195 |
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"frames": 3246,
|
| 196 |
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"pts_gaps": 0,
|
| 197 |
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"timing": "pts",
|
| 198 |
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"timeshift_cam_imu_s": 0.002315656053021164,
|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
| 200 |
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"t_start": 0.03945335145777423,
|
| 201 |
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"t_end": 108.20614235145769,
|
| 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": 2028.063129,
|
| 208 |
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"frames": 3225,
|
| 209 |
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"pts_gaps": 0,
|
| 210 |
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"timing": "pts",
|
| 211 |
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"timeshift_cam_imu_s": null,
|
| 212 |
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"file": "robowrist_39042f5fb5da3b12_left/robowrist_segment1_video_left_down.mp4",
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| 213 |
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"t_start": -0.882096304595456,
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| 214 |
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| 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": 2028.122401,
|
| 221 |
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"frames": 3223,
|
| 222 |
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|
| 223 |
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"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
| 225 |
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"file": "robowrist_65a3481473d6e2a0_right/robowrist_segment1_video_right_down.mp4",
|
| 226 |
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"t_start": -0.8228243045952641,
|
| 227 |
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"t_end": 106.57717569540483,
|
| 228 |
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"clock": "device",
|
| 229 |
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"calibrated": false
|
| 230 |
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},
|
| 231 |
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"third_person": {
|
| 232 |
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"file": "mocap/mocap-LM24-S02-lvaoshan-01p1-1.mp4",
|
| 233 |
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"frames": 3247,
|
| 234 |
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"fps": 30.0,
|
| 235 |
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"clock": "nokov (frame index)",
|
| 236 |
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"t_start": 0.0,
|
| 237 |
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"t_end": 108.2
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
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},
|
| 241 |
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"flags": [],
|
| 242 |
+
"sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
|
| 243 |
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"rig_tracker": {
|
| 244 |
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"definition": "e3296774a321bb51/20261027-afternoon/labels-235140/session-5b93b735df41aa15",
|
| 245 |
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"R_tracker0_imu0": [
|
| 246 |
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[
|
| 247 |
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-0.57318903,
|
| 248 |
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0.00455756,
|
| 249 |
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-0.8194105
|
| 250 |
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],
|
| 251 |
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[
|
| 252 |
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|
| 253 |
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|
| 254 |
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| 255 |
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],
|
| 256 |
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[
|
| 257 |
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|
| 258 |
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-0.99969799,
|
| 259 |
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0.01010848
|
| 260 |
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]
|
| 261 |
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],
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| 262 |
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"p_tracker0_imu0_m": [
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| 263 |
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|
| 265 |
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| 266 |
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],
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| 267 |
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"rig_check": {
|
| 268 |
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"gyro_samples": 5570,
|
| 269 |
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"gyro_max_deg": 2.5,
|
| 270 |
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"status": "video_solve",
|
| 271 |
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"dropped_marker": null,
|
| 272 |
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"gyro_deg": 1.976,
|
| 273 |
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"video_solve": {
|
| 274 |
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"status": "ok",
|
| 275 |
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"reason": "",
|
| 276 |
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"reprojection_px": 3.097,
|
| 277 |
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|
| 278 |
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"gyro_deg": 1.976
|
| 279 |
+
}
|
| 280 |
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},
|
| 281 |
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"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
+
},
|
| 284 |
+
"canonical": {
|
| 285 |
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"generated_at_utc": "2026-10-28T23:23:31.635125+00:00",
|
| 286 |
+
"generated_by": "scripts/canonicalise_dataset.py",
|
| 287 |
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 288 |
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"R_canon_nokov": [
|
| 289 |
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[
|
| 290 |
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0.9999951019,
|
| 291 |
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0.0031298597,
|
| 292 |
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1.01836e-05
|
| 293 |
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],
|
| 294 |
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[
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| 295 |
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-1.01836e-05,
|
| 296 |
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0.0065073133,
|
| 297 |
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-0.9999788272
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| 298 |
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],
|
| 299 |
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[
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| 300 |
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-0.0031298597,
|
| 301 |
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0.9999739291,
|
| 302 |
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0.0065073133
|
| 303 |
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]
|
| 304 |
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],
|
| 305 |
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"scale_nokov_to_canon": 0.001,
|
| 306 |
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"T_canon_nokov_mm": [
|
| 307 |
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[
|
| 308 |
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0.000999995102,
|
| 309 |
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3.12986e-06,
|
| 310 |
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1.0184e-08,
|
| 311 |
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0.0
|
| 312 |
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],
|
| 313 |
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[
|
| 314 |
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-1.0184e-08,
|
| 315 |
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6.507313e-06,
|
| 316 |
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-0.000999978827,
|
| 317 |
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0.0
|
| 318 |
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],
|
| 319 |
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[
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| 320 |
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|
| 321 |
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|
| 322 |
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|
| 323 |
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0.0
|
| 324 |
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],
|
| 325 |
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[
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| 326 |
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0.0,
|
| 327 |
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| 328 |
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0.0,
|
| 329 |
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1.0
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|
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|
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