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- .gitattributes +37 -0
- actions/locomanipulation/LM22/session_039/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_039/raw/sensors/robocap_imu_right.db +3 -0
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- actions/locomanipulation/LM22/session_039/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_039/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM22/session_039/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM22/session_039/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM22/session_039/scene/infer.json +36 -0
- actions/locomanipulation/LM22/session_039/scene/views.npz +3 -0
- actions/locomanipulation/LM22/session_039/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM22/session_039/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM22/session_039/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM22/session_039/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM22/session_039/videos/frame_timestamps.npz +3 -0
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- actions/locomanipulation/LM22/session_039/videos/head_right_front.mp4 +3 -0
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- actions/locomanipulation/LM22/session_039/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM22/session_039/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM22/session_040/cameras/poses.npz +3 -0
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- actions/locomanipulation/LM22/session_040/raw/audio.wav +3 -0
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- actions/locomanipulation/LM22/session_040/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_040/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM22/session_040/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM22/session_040/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM22/session_040/raw/sensors/robowrist_imu_right.db +3 -0
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.gitattributes
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actions/locomanipulation/LM22/session_039/videos/wrist_left.mp4
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actions/locomanipulation/LM22/session_039/videos/wrist_right.mp4
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actions/locomanipulation/LM22/session_040/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261023/LM22/20261023_083252_session29",
|
| 4 |
+
"session_id": "20261023_083252_session29",
|
| 5 |
+
"primitive": "LM22",
|
| 6 |
+
"batch": "20261023",
|
| 7 |
+
"participant": "wangmengli",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-26T04:59:38.290319+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": 151.19166666666666,
|
| 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": -0.09265,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.095,
|
| 31 |
+
"peak_corr": 0.9688,
|
| 32 |
+
"reference_imu_first_sample_s": 3082.627334677,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9945067177625379,
|
| 36 |
+
"drift_ppm": -315.8442053897546,
|
| 37 |
+
"drift_se_ppm": 181.20540935236914,
|
| 38 |
+
"drift_ms_over_take": -47.75037978484107,
|
| 39 |
+
"lag_scatter_ms": 25.303958334258958,
|
| 40 |
+
"lag_range_ms": 110.86495134580504
|
| 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": 30520,
|
| 76 |
+
"n_gyro": 30514,
|
| 77 |
+
"t_start": -0.09959911065878586,
|
| 78 |
+
"t_end": 151.38083754434095
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 30370,
|
| 82 |
+
"n_gyro": 30364,
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