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version https://git-lfs.github.com/spec/v1
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oid sha256:53b1dfb892befdf9ce2840539d856a4f99ce3f0077cb35ea69225fb800a76fc8
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size 47272664
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actions/locomanipulation/LM58/session_010/cameras/poses.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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+
oid sha256:9c5d07f94e320eb790c055afff58cbf499dc3b173ad4ea31aec98ecb4517835a
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size 1185957
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actions/locomanipulation/LM58/session_010/meta.json
ADDED
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@@ -0,0 +1,521 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261017/LM58/20261017_074923_session97",
|
| 4 |
+
"session_id": "20261017_074923_session97",
|
| 5 |
+
"primitive": "LM58",
|
| 6 |
+
"batch": "20261017",
|
| 7 |
+
"participant": "gaoziyue",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-22T15:57:45.072564+00:00",
|
| 15 |
+
"generated_by": "scripts/sync_dataset.py",
|
| 16 |
+
"time_base": {
|
| 17 |
+
"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
+
"mocap_rate_hz": 120.0,
|
| 19 |
+
"mocap_rate_fix": null,
|
| 20 |
+
"first_solved_frame": 0,
|
| 21 |
+
"duration_s": 134.95833333333334,
|
| 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": -0.084764,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9866,
|
| 32 |
+
"reference_imu_first_sample_s": 25821.593238052,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9846969067910212,
|
| 36 |
+
"drift_ppm": 15.47149704844499,
|
| 37 |
+
"drift_se_ppm": 9.034065505889414,
|
| 38 |
+
"drift_ms_over_take": 2.087878526687651,
|
| 39 |
+
"lag_scatter_ms": 0.9861900830026057,
|
| 40 |
+
"lag_range_ms": 3.4166875317838965
|
| 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": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 27455,
|
| 76 |
+
"n_gyro": 27450,
|
| 77 |
+
"t_start": -0.09166156725898394,
|
| 78 |
+
"t_end": 135.14741230474334
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27286,
|
| 82 |
+
"n_gyro": 27280,
|
| 83 |
+
"t_start": 0.024001765740263414,
|
| 84 |
+
"t_end": 135.32008532674314
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 27311,
|
| 88 |
+
"n_gyro": 27311,
|
| 89 |
+
"t_start": -0.8280761612563081,
|
| 90 |
+
"t_end": 134.14707696674174
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26678,
|
| 94 |
+
"n_gyro": 26687,
|
| 95 |
+
"t_start": -0.9063005252586889,
|
| 96 |
+
"t_end": 134.16099517074196
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13537,
|
| 100 |
+
"t_start": 0.12296830774228079,
|
| 101 |
+
"t_end": 135.48301237274296
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13496,
|
| 105 |
+
"t_start": -0.8103753332592758,
|
| 106 |
+
"t_end": 134.1392120667429
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13505,
|
| 110 |
+
"t_start": -0.8875329302585895,
|
| 111 |
+
"t_end": 134.15216917874073
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 25821.714796,
|
| 118 |
+
"frames": 4048,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03942189138849722,
|
| 124 |
+
"t_end": 134.93929989138866,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 25821.714734,
|
| 131 |
+
"frames": 4048,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03914957035756311,
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| 137 |
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}
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},
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"family": "locomanipulation",
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