Release update 2026-11-05: new sessions, instructions, annotations (part 9)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +17 -0
- actions/locomanipulation/LM13/session_033/cameras/gsi_online_calibration.json +259 -0
- actions/locomanipulation/LM13/session_033/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_033/meta.json +117 -3
- actions/locomanipulation/LM13/session_033/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_033/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_034/cameras/gsi_online_calibration.json +209 -0
- actions/locomanipulation/LM13/session_034/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_034/meta.json +117 -3
- actions/locomanipulation/LM13/session_034/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_034/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_035/cameras/gsi_online_calibration.json +237 -0
- actions/locomanipulation/LM13/session_035/cameras/slam.npz +3 -0
- actions/locomanipulation/LM13/session_035/meta.json +117 -3
- actions/locomanipulation/LM13/session_035/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM13/session_035/motions/smplx.npz +2 -2
- actions/locomanipulation/LM13/session_036/cameras/poses.npz +3 -0
- actions/locomanipulation/LM13/session_036/meta.json +527 -0
- actions/locomanipulation/LM13/session_036/motions/head_rig.npz +3 -0
- actions/locomanipulation/LM13/session_036/motions/markers.npz +3 -0
- actions/locomanipulation/LM13/session_036/motions/skeleton.npz +3 -0
- actions/locomanipulation/LM13/session_036/motions/smplx.npz +3 -0
- actions/locomanipulation/LM13/session_036/raw/audio.wav +3 -0
- actions/locomanipulation/LM13/session_036/raw/manifest.json +330 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/BigBox.csv +0 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/BigBox.trc +0 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/Body0.bvh +3 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/Body0.csv +3 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/Body0.trc +3 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/OpenBox.csv +0 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/OpenBox.trc +0 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/Table-zi.csv +0 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/Table-zi.trc +0 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM13/session_036/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM13/session_036/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM13/session_036/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM13/session_036/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM13/session_036/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM13/session_036/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM13/session_036/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM13/session_036/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM13/session_036/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM13/session_036/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM13/session_036/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM13/session_036/videos/head_left_front.mp4 +3 -0
.gitattributes
CHANGED
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@@ -44441,3 +44441,20 @@ actions/locomanipulation/LM12/session_034/raw/sensors/robowrist_imu_left.db filt
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actions/locomanipulation/LM12/session_034/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM12/session_034/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM12/session_034/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM12/session_034/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM12/session_034/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM12/session_034/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_036/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_037/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_037/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_037/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_037/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_037/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 44459 |
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actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_037/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/locomanipulation/LM13/session_033/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,259 @@
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| 1 |
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{
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| 140 |
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| 143 |
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|
| 144 |
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|
| 145 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
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@@ -519,12 +519,126 @@
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|
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|
| 630 |
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|
| 631 |
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| 632 |
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| 637 |
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| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
"objects": [
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| 643 |
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| 644 |
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|
| 1 |
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actions/locomanipulation/LM13/session_033/motions/smplx.npz
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|
| 1 |
+
{
|
| 2 |
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"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
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"median_px": 0.408
|
| 6 |
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},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
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"delta_deg": 2.3982,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.569,
|
| 19 |
+
"held_out_px_before": 5.617,
|
| 20 |
+
"inliers": 717,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
1.9877,
|
| 24 |
+
-1.1809,
|
| 25 |
+
0.6372
|
| 26 |
+
],
|
| 27 |
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"split_deg": 0.0288,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
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"left",
|
| 37 |
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"right"
|
| 38 |
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],
|
| 39 |
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"delta_deg": 0.7229,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
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"held_out_px_after": 0.441,
|
| 42 |
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"held_out_px_before": 4.664,
|
| 43 |
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|
| 44 |
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"position_fitted": true,
|
| 45 |
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"position_mm": [
|
| 46 |
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-3.05,
|
| 47 |
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-19.22,
|
| 48 |
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2.94
|
| 49 |
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],
|
| 50 |
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"position_sigma_mm": 0.108,
|
| 51 |
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|
| 52 |
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"rotvec_deg": [
|
| 53 |
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-0.067,
|
| 54 |
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-0.1234,
|
| 55 |
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0.7092
|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0372,
|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
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},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
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"left_eye",
|
| 69 |
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"right_eye"
|
| 70 |
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],
|
| 71 |
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"delta_deg": 3.3363,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.615,
|
| 74 |
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"held_out_px_before": 5.724,
|
| 75 |
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"inliers": 840,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
2.0149,
|
| 79 |
+
-1.0047,
|
| 80 |
+
2.462
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0976,
|
| 83 |
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"usable": true
|
| 84 |
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},
|
| 85 |
+
"right_eye": {
|
| 86 |
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"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
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"delta_deg": 1.8802,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
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"held_out_px_after": 0.378,
|
| 97 |
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"held_out_px_before": 5.52,
|
| 98 |
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"inliers": 3236,
|
| 99 |
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"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
-3.14,
|
| 102 |
+
-16.94,
|
| 103 |
+
3.1
|
| 104 |
+
],
|
| 105 |
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"position_sigma_mm": 0.098,
|
| 106 |
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"position_split_mm": 0.795,
|
| 107 |
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|
| 108 |
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0.3186,
|
| 109 |
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-0.8112,
|
| 110 |
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1.666
|
| 111 |
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],
|
| 112 |
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"split_deg": 0.065,
|
| 113 |
+
"usable": true
|
| 114 |
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},
|
| 115 |
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"right_front": {
|
| 116 |
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"accepted": true,
|
| 117 |
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"against": [
|
| 118 |
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"left_front",
|
| 119 |
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"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
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"left",
|
| 122 |
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"right"
|
| 123 |
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],
|
| 124 |
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"delta_deg": 1.0203,
|
| 125 |
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"gate_fail": [],
|
| 126 |
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"held_out_px_after": 0.397,
|
| 127 |
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"held_out_px_before": 5.562,
|
| 128 |
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"inliers": 3600,
|
| 129 |
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"position_fitted": false,
|
| 130 |
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"rotvec_deg": [
|
| 131 |
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0.7181,
|
| 132 |
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-0.3352,
|
| 133 |
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-0.6426
|
| 134 |
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],
|
| 135 |
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"split_deg": 0.016,
|
| 136 |
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"usable": true
|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e3296774a321bb51",
|
| 141 |
+
"factory_root_name": "e3296774a321bb51",
|
| 142 |
+
"files": {
|
| 143 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
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"sha256": "e7eacc9accb45ca48ee256399ab153ca795648cb7ff0d78bf38c2866aa0624b5",
|
| 145 |
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"source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
|
| 146 |
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},
|
| 147 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
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"sha256": "9ce1c36f367e3237c901b76a612460018ebf83ed0f01205d617f3d10997f3924",
|
| 149 |
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"source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
|
| 150 |
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},
|
| 151 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
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"sha256": "cc979f287b5aaa6e3859eb3f398c791b1a1c1ec688468fd24e035fc8bbe16182",
|
| 153 |
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"source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
|
| 154 |
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},
|
| 155 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
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"sha256": "8792ff5d75ab77b69ad9a2870db2b616944cff9d737963f86e7b8352898f23c8",
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| 157 |
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| 158 |
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}
|
| 159 |
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},
|
| 160 |
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"input_fingerprint": "a83adc80bf2fc288",
|
| 161 |
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"kind": "online_calibration",
|
| 162 |
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"output_sha256": "3e3ca90a99ca8638d66b2e115cd89b089a8914f16a0a9a51a81b0133aecc0826",
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| 163 |
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"overlap": {
|
| 164 |
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"left-right": 0.489,
|
| 165 |
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"left_eye-left": 0.684,
|
| 166 |
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"left_eye-right": 0.685,
|
| 167 |
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"left_eye-right_eye": 1.0,
|
| 168 |
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"left_front-left": 0.466,
|
| 169 |
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"left_front-left_eye": 0.717,
|
| 170 |
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"left_front-right": 0.447,
|
| 171 |
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"left_front-right_eye": 0.72,
|
| 172 |
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"left_front-right_front": 1.0,
|
| 173 |
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"right_eye-left": 0.672,
|
| 174 |
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"right_eye-right": 0.676,
|
| 175 |
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"right_front-left": 0.469,
|
| 176 |
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"right_front-left_eye": 0.746,
|
| 177 |
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"right_front-right": 0.472,
|
| 178 |
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"right_front-right_eye": 0.74
|
| 179 |
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|
| 180 |
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"picture_change": {
|
| 181 |
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"left": 38.202,
|
| 182 |
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"left_eye": 41.641,
|
| 183 |
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"left_front": 41.857,
|
| 184 |
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|
| 185 |
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"right_eye": 40.941,
|
| 186 |
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"right_front": 45.002
|
| 187 |
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},
|
| 188 |
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"runtime": {
|
| 189 |
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"numpy": "2.4.6",
|
| 190 |
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"opencv": "5.0.0",
|
| 191 |
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"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
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"segment": 1,
|
| 194 |
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"selection": {
|
| 195 |
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"overlap_captures": [
|
| 196 |
+
3637596521000,
|
| 197 |
+
3638596521000,
|
| 198 |
+
3639596521000,
|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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]
|
| 207 |
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},
|
| 208 |
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"version": 1
|
| 209 |
+
}
|
actions/locomanipulation/LM13/session_034/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a2d3984e26b89e2dd38f5050ee671dbf26b11387351e892884a09ecbcfce0dbd
|
| 3 |
+
size 746706
|
actions/locomanipulation/LM13/session_034/meta.json
CHANGED
|
@@ -282,7 +282,7 @@
|
|
| 282 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
},
|
| 284 |
"canonical": {
|
| 285 |
-
"generated_at_utc": "2026-
|
| 286 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 287 |
"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 |
"R_canon_nokov": [
|
|
@@ -372,8 +372,8 @@
|
|
| 372 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 373 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 374 |
"hands": {
|
| 375 |
-
"observed":
|
| 376 |
-
"hand_pose": "
|
| 377 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 378 |
"hand_marker_offsets_m": {
|
| 379 |
"left": {
|
|
@@ -519,12 +519,126 @@
|
|
| 519 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 520 |
}
|
| 521 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
| 522 |
"release": {
|
| 523 |
"release_path": "actions/locomanipulation/LM13/session_034",
|
| 524 |
"family": "locomanipulation",
|
| 525 |
"primitive": "LM13",
|
| 526 |
"source_session": "20261023/LM13/20261023_073220_session10"
|
| 527 |
},
|
|
|
|
|
|
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| 528 |
"objects": [
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| 529 |
{
|
| 530 |
"name": "BigBox",
|
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|
| 282 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
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|
| 284 |
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|
| 285 |
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|
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|
| 288 |
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| 372 |
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|
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|
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|
| 379 |
"left": {
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|
| 519 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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|
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"generated_by": "scripts/register_hands_smplx.py",
|
| 629 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
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|
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|
| 632 |
"release": {
|
| 633 |
"release_path": "actions/locomanipulation/LM13/session_034",
|
| 634 |
"family": "locomanipulation",
|
| 635 |
"primitive": "LM13",
|
| 636 |
"source_session": "20261023/LM13/20261023_073220_session10"
|
| 637 |
},
|
| 638 |
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"task": {
|
| 639 |
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"primitive": "LM13",
|
| 640 |
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"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 641 |
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|
| 642 |
"objects": [
|
| 643 |
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| 644 |
"name": "BigBox",
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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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|
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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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|
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|
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|
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|
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"split_deg": 0.0476,
|
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|
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|
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|
| 32 |
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|
| 33 |
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"against": [
|
| 34 |
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"left_front",
|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
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|
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|
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|
| 44 |
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|
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|
| 46 |
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|
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|
| 48 |
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|
| 49 |
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|
| 50 |
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],
|
| 51 |
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|
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|
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|
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|
| 55 |
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|
| 56 |
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|
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|
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|
| 59 |
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|
| 60 |
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},
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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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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|
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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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|
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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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|
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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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|
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|
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|
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|
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
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|
| 120 |
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|
| 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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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/LM13/20261027_034255_session25",
|
| 4 |
+
"session_id": "20261027_034255_session25",
|
| 5 |
+
"primitive": "LM13",
|
| 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": "2026-10-28T19:48:43.116973+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": 149.35833333333332,
|
| 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": -0.083067,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9922,
|
| 32 |
+
"reference_imu_first_sample_s": 9366.681338122,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9975139974598801,
|
| 36 |
+
"drift_ppm": -323.80711538651417,
|
| 37 |
+
"drift_se_ppm": 181.81916683532006,
|
| 38 |
+
"drift_ms_over_take": -48.360592682975884,
|
| 39 |
+
"lag_scatter_ms": 22.56316523012286,
|
| 40 |
+
"lag_range_ms": 97.13273781144878
|
| 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": 30151,
|
| 76 |
+
"n_gyro": 30145,
|
| 77 |
+
"t_start": -0.09458220567679333,
|
| 78 |
+
"t_end": 149.556851242323
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 30007,
|
| 82 |
+
"n_gyro": 30000,
|
| 83 |
+
"t_start": 0.009478432322489003,
|
| 84 |
+
"t_end": 149.73107454532297
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29848,
|
| 88 |
+
"n_gyro": 29847,
|
| 89 |
+
"t_start": -0.6069375206773979,
|
| 90 |
+
"t_end": 147.88831316532347
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 30090,
|
| 94 |
+
"n_gyro": 30104,
|
| 95 |
+
"t_start": -0.5658494046768605,
|
| 96 |
+
"t_end": 147.88754357632357
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14981,
|
| 100 |
+
"t_start": 0.09326230732373418,
|
| 101 |
+
"t_end": 149.89326071232213
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14848,
|
| 105 |
+
"t_start": -0.5901980356778362,
|
| 106 |
+
"t_end": 147.88018190732296
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14845,
|
| 110 |
+
"t_start": -0.5573899046779256,
|
| 111 |
+
"t_end": 147.88259519832323
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 9366.801587,
|
| 118 |
+
"frames": 4480,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03973607676531586,
|
| 124 |
+
"t_end": 149.33978007676492,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 9366.80157,
|
| 131 |
+
"frames": 4480,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03953131140011877,
|
| 137 |
+
"t_end": 149.33955331139956,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 9366.801582,
|
| 144 |
+
"frames": 4480,
|
| 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": 0.03984929653203338,
|
| 150 |
+
"t_end": 149.33988229653156,
|
| 151 |
+
"clock": "device",
|
| 152 |
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"calibrated": true
|
| 153 |
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},
|
| 154 |
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"right_front": {
|
| 155 |
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"fps": 30.0,
|
| 156 |
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|
| 157 |
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"frames": 4480,
|
| 158 |
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|
| 159 |
+
"timing": "pts",
|
| 160 |
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|
| 161 |
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"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
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|
| 163 |
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| 164 |
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"clock": "device",
|
| 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": 30.0,
|
| 169 |
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"start_device_s": 9366.801576,
|
| 170 |
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"frames": 4472,
|
| 171 |
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"pts_gaps": 8,
|
| 172 |
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"timing": "pts",
|
| 173 |
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"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
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"gap_test": {
|
| 175 |
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|
| 176 |
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"offset_ms": 37.3,
|
| 177 |
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"corr": 0.828,
|
| 178 |
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|
| 179 |
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},
|
| 180 |
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"nominal": {
|
| 181 |
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"offset_ms": 87.3,
|
| 182 |
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"corr": 0.828,
|
| 183 |
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"err_ms": 84.9
|
| 184 |
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}
|
| 185 |
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},
|
| 186 |
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"file": "robocap_segment1_video_left_eye.mp4",
|
| 187 |
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|
| 188 |
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| 189 |
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|
| 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": 9366.801561,
|
| 195 |
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"frames": 4480,
|
| 196 |
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|
| 197 |
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"timing": "pts",
|
| 198 |
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|
| 199 |
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"file": "robocap_segment1_video_right_eye.mp4",
|
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|
| 201 |
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|
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|
| 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": 9366.19304,
|
| 208 |
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"frames": 4453,
|
| 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_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
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| 216 |
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|
| 217 |
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},
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|
| 219 |
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"fps": 30.0,
|
| 220 |
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"start_device_s": 9366.150699,
|
| 221 |
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"frames": 4454,
|
| 222 |
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|
| 223 |
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"timing": "pts",
|
| 224 |
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"timeshift_cam_imu_s": null,
|
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"file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
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| 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-LM13-S02-xiaobo-01p2-1.mp4",
|
| 233 |
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|
| 234 |
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|
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|
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|
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}
|
| 239 |
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}
|
| 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-morning/labels-235140/session-a328d1415909b595",
|
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|
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[
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0.67901943
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[
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0.71620568,
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0.20108988,
|
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-0.66829057
|
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]
|
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],
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0.0310721711444163,
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],
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"rig_check": {
|
| 268 |
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"gyro_samples": 3800,
|
| 269 |
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"gyro_max_deg": 2.5,
|
| 270 |
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"status": "video_solve",
|
| 271 |
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|
| 272 |
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|
| 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": 2.913,
|
| 277 |
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"n_assoc": 513,
|
| 278 |
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"gyro_deg": 1.656
|
| 279 |
+
}
|
| 280 |
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},
|
| 281 |
+
"file": "derived/rig_tracker_provider/rig_tracker.json",
|
| 282 |
+
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 283 |
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},
|
| 284 |
+
"canonical": {
|
| 285 |
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"generated_at_utc": "2026-10-28T23:23:22.519024+00:00",
|
| 286 |
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"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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0.9999917896,
|
| 291 |
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0.0040522361,
|
| 292 |
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1.40821e-05
|
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],
|
| 294 |
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[
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|
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0.0069501878,
|
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|
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],
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[
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|
| 302 |
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0.0069501878
|
| 303 |
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]
|
| 304 |
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],
|
| 305 |
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"scale_nokov_to_canon": 0.001,
|
| 306 |
+
"T_canon_nokov_mm": [
|
| 307 |
+
[
|
| 308 |
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0.00099999179,
|
| 309 |
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4.052236e-06,
|
| 310 |
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1.4082e-08,
|
| 311 |
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0.0
|
| 312 |
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],
|
| 313 |
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[
|
| 314 |
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-1.4082e-08,
|
| 315 |
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6.950188e-06,
|
| 316 |
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-0.000999975847,
|
| 317 |
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0.0
|
| 318 |
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],
|
| 319 |
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[
|
| 320 |
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-4.052236e-06,
|
| 321 |
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0.000999967637,
|
| 322 |
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6.950188e-06,
|
| 323 |
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0.0
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| 324 |
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],
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| 325 |
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[
|
| 326 |
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0.0,
|
| 327 |
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0.0,
|
| 328 |
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0.0,
|
| 329 |
+
1.0
|
| 330 |
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]
|
| 331 |
+
],
|
| 332 |
+
"block": "20261027-morning",
|
| 333 |
+
"block_assignment": "trc",
|
| 334 |
+
"tilt_removed_deg": 0.46096270469771533,
|
| 335 |
+
"plane_status": "ok",
|
| 336 |
+
"floor": {
|
| 337 |
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"sole_marker_p1_mm": 45.2,
|
| 338 |
+
"headtop_p95_mm": 1725.8
|
| 339 |
+
},
|
| 340 |
+
"gravity_check": {
|
| 341 |
+
"static_samples": 2252,
|
| 342 |
+
"g_world_mean_m_s2": [
|
| 343 |
+
0.081,
|
| 344 |
+
-0.0082,
|
| 345 |
+
9.711
|
| 346 |
+
],
|
| 347 |
+
"tilt_from_z_deg": 0.48,
|
| 348 |
+
"tilt_from_z_deg_before_levelling": 0.51,
|
| 349 |
+
"magnitude_m_s2": 9.7114
|
| 350 |
+
},
|
| 351 |
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"rig_tracker_definition": "e3296774a321bb51/20261027-morning/labels-235140/session-a328d1415909b595",
|
| 352 |
+
"rig_check": {
|
| 353 |
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"status": "video_solve",
|
| 354 |
+
"dropped_marker": null,
|
| 355 |
+
"gyro_deg": 1.656
|
| 356 |
+
},
|
| 357 |
+
"camera_pose_source": "T_tracker0_imu0 @ inv(T_cam_imu)",
|
| 358 |
+
"files": [
|
| 359 |
+
"mocap_zup.npz",
|
| 360 |
+
"tracker0_zup.npz",
|
| 361 |
+
"rig_zup.npz",
|
| 362 |
+
"cameras_zup.npz"
|
| 363 |
+
]
|
| 364 |
+
},
|
| 365 |
+
"smplx": {
|
| 366 |
+
"generated_at_utc": "2026-10-29T06:51:26.657424+00:00",
|
| 367 |
+
"generated_by": "scripts/fit_smplx_dataset.py",
|
| 368 |
+
"file": "smplx.npz",
|
| 369 |
+
"gender": "male",
|
| 370 |
+
"n_betas": 16,
|
| 371 |
+
"betas_source": "participant median (derived/smplx/participants.json)",
|
| 372 |
+
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 373 |
+
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 374 |
+
"hands": {
|
| 375 |
+
"observed": false,
|
| 376 |
+
"hand_pose": "flat (zeros, flat_hand_mean=True)",
|
| 377 |
+
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 378 |
+
"hand_marker_offsets_m": {
|
| 379 |
+
"left": {
|
| 380 |
+
"LHandIn": [
|
| 381 |
+
0.058930233120918274,
|
| 382 |
+
-0.022598151117563248,
|
| 383 |
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0.0008606761693954468
|
| 384 |
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],
|
| 385 |
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"LHandOut": [
|
| 386 |
+
0.05687430500984192,
|
| 387 |
+
0.02733038365840912,
|
| 388 |
+
-0.00813995860517025
|
| 389 |
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]
|
| 390 |
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},
|
| 391 |
+
"right": {
|
| 392 |
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"RHandIn": [
|
| 393 |
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-0.04049603268504143,
|
| 394 |
+
-0.01961575075984001,
|
| 395 |
+
0.0005106867756694555
|
| 396 |
+
],
|
| 397 |
+
"RHandOut": [
|
| 398 |
+
-0.038977280259132385,
|
| 399 |
+
0.0273121390491724,
|
| 400 |
+
0.00868593342602253
|
| 401 |
+
]
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
},
|
| 405 |
+
"marker_rmse_mm": {
|
| 406 |
+
"median_frame": 4.39,
|
| 407 |
+
"p95_frame": 7.64
|
| 408 |
+
},
|
| 409 |
+
"worst_markers": [
|
| 410 |
+
"LThigh 11mm",
|
| 411 |
+
"LKneeIn 10mm",
|
| 412 |
+
"RKneeIn 9mm",
|
| 413 |
+
"RHeadBack 9mm",
|
| 414 |
+
"RShin 8mm"
|
| 415 |
+
],
|
| 416 |
+
"valid_fraction": 0.9996,
|
| 417 |
+
"qc": {
|
| 418 |
+
"lowest_vertex_mm": {
|
| 419 |
+
"median": 4.8,
|
| 420 |
+
"p5": -6.1
|
| 421 |
+
},
|
| 422 |
+
"frames_checked": 598,
|
| 423 |
+
"stature_mm": 1700.1
|
| 424 |
+
},
|
| 425 |
+
"surface_term": {
|
| 426 |
+
"weight": 1.0,
|
| 427 |
+
"marker_height_mm": 11.0,
|
| 428 |
+
"markers_on_surface": 52,
|
| 429 |
+
"surface_rmse_mm_median": 11.67
|
| 430 |
+
},
|
| 431 |
+
"shape_source": "participant median",
|
| 432 |
+
"wrist_correction": {
|
| 433 |
+
"left": {
|
| 434 |
+
"status": "corrected",
|
| 435 |
+
"Q_deg": 85.47,
|
| 436 |
+
"Q_rotvec": [
|
| 437 |
+
1.46956,
|
| 438 |
+
-0.1711,
|
| 439 |
+
-0.19139
|
| 440 |
+
],
|
| 441 |
+
"in_out_sign": 1,
|
| 442 |
+
"wrist_bend_deg_median": 55.9,
|
| 443 |
+
"opposite_sign_bend_deg": 130.9,
|
| 444 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 445 |
+
"marker_frame_spread_deg": 0.85,
|
| 446 |
+
"hand_vs_marker_frame_deg": {
|
| 447 |
+
"before": 85.51,
|
| 448 |
+
"after": 0.85
|
| 449 |
+
},
|
| 450 |
+
"markers_on_wrist": [
|
| 451 |
+
"LHandIn",
|
| 452 |
+
"LHandOut"
|
| 453 |
+
],
|
| 454 |
+
"forearm_twist": {
|
| 455 |
+
"twist_moved_deg": 54.82,
|
| 456 |
+
"wrist_twist_deg_after": {
|
| 457 |
+
"median": -0.0,
|
| 458 |
+
"iqr": [
|
| 459 |
+
-1.5,
|
| 460 |
+
1.7
|
| 461 |
+
]
|
| 462 |
+
},
|
| 463 |
+
"wrist_total_deg_median_after": 10.4,
|
| 464 |
+
"markers_on_forearm": [
|
| 465 |
+
"LElbowIn",
|
| 466 |
+
"LForearm",
|
| 467 |
+
"LWristIn",
|
| 468 |
+
"LWristOut"
|
| 469 |
+
]
|
| 470 |
+
},
|
| 471 |
+
"frames_used": 1500
|
| 472 |
+
},
|
| 473 |
+
"right": {
|
| 474 |
+
"status": "corrected",
|
| 475 |
+
"Q_deg": 104.83,
|
| 476 |
+
"Q_rotvec": [
|
| 477 |
+
1.8054,
|
| 478 |
+
0.0877,
|
| 479 |
+
0.28391
|
| 480 |
+
],
|
| 481 |
+
"in_out_sign": 1,
|
| 482 |
+
"wrist_bend_deg_median": 95.0,
|
| 483 |
+
"opposite_sign_bend_deg": 90.1,
|
| 484 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 485 |
+
"marker_frame_spread_deg": 2.97,
|
| 486 |
+
"hand_vs_marker_frame_deg": {
|
| 487 |
+
"before": 104.84,
|
| 488 |
+
"after": 2.97
|
| 489 |
+
},
|
| 490 |
+
"markers_on_wrist": [
|
| 491 |
+
"RHandIn",
|
| 492 |
+
"RHandOut"
|
| 493 |
+
],
|
| 494 |
+
"forearm_twist": {
|
| 495 |
+
"twist_moved_deg": -94.11,
|
| 496 |
+
"wrist_twist_deg_after": {
|
| 497 |
+
"median": 0.0,
|
| 498 |
+
"iqr": [
|
| 499 |
+
-1.2,
|
| 500 |
+
1.4
|
| 501 |
+
]
|
| 502 |
+
},
|
| 503 |
+
"wrist_total_deg_median_after": 11.8,
|
| 504 |
+
"markers_on_forearm": [
|
| 505 |
+
"RElbowIn",
|
| 506 |
+
"RForearm",
|
| 507 |
+
"RWristIn",
|
| 508 |
+
"RWristOut"
|
| 509 |
+
]
|
| 510 |
+
},
|
| 511 |
+
"frames_used": 1500
|
| 512 |
+
},
|
| 513 |
+
"generated_at_utc": "2026-10-29T06:51:29.843532+00:00",
|
| 514 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 515 |
+
}
|
| 516 |
+
},
|
| 517 |
+
"release": {
|
| 518 |
+
"release_path": "actions/locomanipulation/LM13/session_036",
|
| 519 |
+
"family": "locomanipulation",
|
| 520 |
+
"primitive": "LM13",
|
| 521 |
+
"source_session": "20261027/LM13/20261027_034255_session25"
|
| 522 |
+
},
|
| 523 |
+
"task": {
|
| 524 |
+
"primitive": "LM13",
|
| 525 |
+
"instruction": "Carry the heavy box in both hands in front of you, walking back and forth across the room. Keep walking until the operator says stop. Set it down if you need a rest."
|
| 526 |
+
}
|
| 527 |
+
}
|
actions/locomanipulation/LM13/session_036/motions/head_rig.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
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actions/locomanipulation/LM13/session_036/videos/head_left.mp4
ADDED
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| 1 |
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM13/session_036/videos/head_left_eye.mp4
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM13/session_036/videos/head_left_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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