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| 2 |
+
oid sha256:1fce52b35d55382c7c051ec2f15c502851052232e5623ef7f73d4ac2822e5460
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| 3 |
+
size 53702658
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actions/locomanipulation/LM36/session_024/cameras/poses.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:3eca33fd18233fec873734bb7d0643f7058f4a0a2a1b643fd8475bc260bb5bd2
|
| 3 |
+
size 1318282
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actions/locomanipulation/LM36/session_024/meta.json
ADDED
|
@@ -0,0 +1,534 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261016/LM36/20261016_020003_session22",
|
| 4 |
+
"session_id": "20261016_020003_session22",
|
| 5 |
+
"primitive": "LM36",
|
| 6 |
+
"batch": "20261016",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "75b5984e04d1d236",
|
| 12 |
+
"right": "c84bc808cb6b47af"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-22T15:46:58.638001+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": 151.15833333333333,
|
| 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": -0.079083,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9944,
|
| 32 |
+
"reference_imu_first_sample_s": 5377.943880972,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 14,
|
| 35 |
+
"window_corr_median": 0.9970354544975737,
|
| 36 |
+
"drift_ppm": -252.55017209898023,
|
| 37 |
+
"drift_se_ppm": 146.0670529778483,
|
| 38 |
+
"drift_ms_over_take": -38.172958512760864,
|
| 39 |
+
"lag_scatter_ms": 20.39715390268589,
|
| 40 |
+
"lag_range_ms": 89.24631626736605
|
| 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 |
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[
|
| 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 |
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"imu_head_right": {
|
| 75 |
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"n_acc": 30518,
|
| 76 |
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"n_gyro": 30511,
|
| 77 |
+
"t_start": -0.09556619966146646,
|
| 78 |
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"t_end": 151.3627780283385
|
| 79 |
+
},
|
| 80 |
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"imu_head_left": {
|
| 81 |
+
"n_acc": 30366,
|
| 82 |
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"n_gyro": 30359,
|
| 83 |
+
"t_start": 0.02565892533844344,
|
| 84 |
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"t_end": 151.52567470733888
|
| 85 |
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},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 30411,
|
| 88 |
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"n_gyro": 30421,
|
| 89 |
+
"t_start": -0.813325313661285,
|
| 90 |
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"t_end": 150.4727524383387
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 30657,
|
| 94 |
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"n_gyro": 30671,
|
| 95 |
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"t_start": -0.7757267456610364,
|
| 96 |
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"t_end": 150.46591426433847
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 15159,
|
| 100 |
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"t_start": 0.11305996733868123,
|
| 101 |
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"t_end": 151.69310249833856
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 15127,
|
| 105 |
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"t_start": -0.7947870676608957,
|
| 106 |
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"t_end": 150.46523894133847
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 15124,
|
| 110 |
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"t_start": -0.7675529786612472,
|
| 111 |
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"t_end": 150.46237265833847
|
| 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": 5378.060052,
|
| 118 |
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"frames": 4534,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
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"file": "robocap_segment1_video_left.mp4",
|
| 123 |
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"t_start": 0.03964297178195447,
|
| 124 |
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"t_end": 151.13963197178222,
|
| 125 |
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"clock": "device",
|
| 126 |
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"calibrated": true
|
| 127 |
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},
|
| 128 |
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"right": {
|
| 129 |
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"fps": 30.0,
|
| 130 |
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"start_device_s": 5378.060018,
|
| 131 |
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"frames": 4534,
|
| 132 |
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"pts_gaps": 0,
|
| 133 |
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"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
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