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| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261017/LM01/20261017_083841_session107",
|
| 4 |
+
"session_id": "20261017_083841_session107",
|
| 5 |
+
"primitive": "LM01",
|
| 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": "2026-10-22T15:53:51.930839+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": 141.15833333333333,
|
| 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": -0.088836,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.9853,
|
| 32 |
+
"reference_imu_first_sample_s": 28779.057895258,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.992862160221347,
|
| 36 |
+
"drift_ppm": -328.5940956812789,
|
| 37 |
+
"drift_se_ppm": 203.12319368227057,
|
| 38 |
+
"drift_ms_over_take": -46.38105660541251,
|
| 39 |
+
"lag_scatter_ms": 25.206925435283708,
|
| 40 |
+
"lag_range_ms": 107.31810154406482
|
| 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": 28715,
|
| 76 |
+
"n_gyro": 28710,
|
| 77 |
+
"t_start": -0.1002629466963835,
|
| 78 |
+
"t_end": 141.3483709893046
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 28538,
|
| 82 |
+
"n_gyro": 28532,
|
| 83 |
+
"t_start": 0.008543725303971822,
|
| 84 |
+
"t_end": 141.51478056930523
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 28473,
|
| 88 |
+
"n_gyro": 28488,
|
| 89 |
+
"t_start": -0.7740531186971192,
|
| 90 |
+
"t_end": 139.94849911730512
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 27824,
|
| 94 |
+
"n_gyro": 27835,
|
| 95 |
+
"t_start": -0.9309047306958372,
|
| 96 |
+
"t_end": 139.94085025630216
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14160,
|
| 100 |
+
"t_start": 0.08913291030352508,
|
| 101 |
+
"t_end": 141.6791768943042
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14072,
|
| 105 |
+
"t_start": -0.7659633566943366,
|
| 106 |
+
"t_end": 139.94369109030254
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14086,
|
| 110 |
+
"t_start": -0.912903635696929,
|
| 111 |
+
"t_end": 139.9367409383051
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 28779.183888,
|
| 118 |
+
"frames": 4234,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039785416949817826,
|
| 124 |
+
"t_end": 141.13981841694863,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 28779.183869,
|
| 131 |
+
"frames": 4234,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03955609591888884,
|
| 137 |
+
"t_end": 141.13956709591753,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 28779.183881,
|
| 144 |
+
"frames": 4234,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
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"LForearm 11mm",
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},
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5.3
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| 526 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
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| 527 |
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}
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| 528 |
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},
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"release_path": "actions/locomanipulation/LM01/session_007",
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