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actions/locomanipulation/LM79/session_013/meta.json
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|
| 1 |
+
{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"session": "EgoMotionActions/20261021/LM79/20261021_031730_session48",
|
| 4 |
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"session_id": "20261021_031730_session48",
|
| 5 |
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"primitive": "LM79",
|
| 6 |
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"batch": "20261021",
|
| 7 |
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"participant": "wangyang",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
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"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
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"generated_at_utc": "2026-10-26T04:51:07.068756+00:00",
|
| 15 |
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"generated_by": "scripts/sync_dataset.py",
|
| 16 |
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"time_base": {
|
| 17 |
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"definition": "t = 0 at the first solved Body0 frame; seconds; each stream has its own t, nothing resampled",
|
| 18 |
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"mocap_rate_hz": 120.0,
|
| 19 |
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"mocap_rate_fix": null,
|
| 20 |
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"first_solved_frame": 0,
|
| 21 |
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"duration_s": 148.15833333333333,
|
| 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 + rate (windowed fit)",
|
| 27 |
+
"mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
|
| 28 |
+
"offset_s": -0.077649,
|
| 29 |
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"rate": -3.419996921113109e-05,
|
| 30 |
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"global_lag_s": -0.07,
|
| 31 |
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"peak_corr": 0.9641,
|
| 32 |
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"reference_imu_first_sample_s": 10469.30667153,
|
| 33 |
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"windows": {
|
| 34 |
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"n_windows": 13,
|
| 35 |
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"window_corr_median": 0.9797911672565947,
|
| 36 |
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"drift_ppm": -34.199969211131,
|
| 37 |
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"drift_se_ppm": 10.88761983794584,
|
| 38 |
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"drift_ms_over_take": -5.066725438629057,
|
| 39 |
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"lag_scatter_ms": 1.3511180897052373,
|
| 40 |
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"lag_range_ms": 8.02994255601941
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"units": {
|
| 44 |
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"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
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[
|
| 47 |
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1.0,
|
| 48 |
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0.0,
|
| 49 |
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0.0
|
| 50 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 62 |
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"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
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"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
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"quaternions": "xyzw, Nokov global"
|
| 66 |
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},
|
| 67 |
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"calibration": {
|
| 68 |
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"device": "c9205ac6e17d2d5c",
|
| 69 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
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},
|
| 72 |
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"streams": {
|
| 73 |
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"sensors": {
|
| 74 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 30141,
|
| 76 |
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|
| 77 |
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"t_start": -0.09401905368134301,
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| 78 |
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"t_end": 148.36465156270498
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},
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| 80 |
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|
| 81 |
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"n_acc": 29953,
|
| 82 |
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|
| 83 |
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"t_start": 0.02086124328071377,
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| 84 |
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},
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| 87 |
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"n_acc": 29877,
|
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"n_gyro": 29876,
|
| 89 |
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"t_start": -0.959797069087069,
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| 90 |
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"t_end": 146.6881007486532
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| 91 |
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},
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| 92 |
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"imu_wrist_left": {
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| 93 |
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"n_acc": 29875,
|
| 94 |
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"n_gyro": 29874,
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| 95 |
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"t_start": -0.8435449620417026,
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| 96 |
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"t_end": 146.6964508380699
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| 97 |
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},
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| 98 |
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"mag_head": {
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| 99 |
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"n": 14861,
|
| 100 |
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"t_start": 0.10354789830359055,
|
| 101 |
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"t_end": 148.69845127037576
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},
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| 103 |
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"n": 14764,
|
| 105 |
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"t_start": -0.9408116714092933,
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},
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"n": 14753,
|
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"t_start": -0.825879378225222,
|
| 111 |
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"t_end": 146.68927246757775
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| 112 |
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}
|
| 113 |
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},
|
| 114 |
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"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 10469.424389,
|
| 118 |
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| 119 |
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|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.04269292426076582,
|
| 124 |
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"t_end": 148.1375609111115,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
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| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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|
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|
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|
| 133 |
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"timing": "pts",
|
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