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size 101389176
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actions/locomanipulation/LM76/session_007/cameras/poses.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:376c0d938bb6d7691b95ce1947b39561b1c71d739749a726792ea1b9e8fb534f
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| 3 |
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size 1870894
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actions/locomanipulation/LM76/session_007/meta.json
ADDED
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@@ -0,0 +1,534 @@
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261016/LM76/20261016_101324_session7",
|
| 4 |
+
"session_id": "20261016_101324_session7",
|
| 5 |
+
"primitive": "LM76",
|
| 6 |
+
"batch": "20261016",
|
| 7 |
+
"participant": "liujiaxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-22T15:48:25.535584+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": 216.65833333333333,
|
| 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": -0.088315,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.964,
|
| 32 |
+
"reference_imu_first_sample_s": 6029.749906522,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 20,
|
| 35 |
+
"window_corr_median": 0.9766612857173992,
|
| 36 |
+
"drift_ppm": -151.60741477846997,
|
| 37 |
+
"drift_se_ppm": 86.69880113046264,
|
| 38 |
+
"drift_ms_over_take": -32.84574641175552,
|
| 39 |
+
"lag_scatter_ms": 21.210219818048838,
|
| 40 |
+
"lag_range_ms": 107.27151071049187
|
| 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": 44046,
|
| 76 |
+
"n_gyro": 44040,
|
| 77 |
+
"t_start": -0.09521089331056114,
|
| 78 |
+
"t_end": 216.85658665468972
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 43768,
|
| 82 |
+
"n_gyro": 43761,
|
| 83 |
+
"t_start": 0.0123368566893058,
|
| 84 |
+
"t_end": 217.0200244116896
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 43806,
|
| 88 |
+
"n_gyro": 43818,
|
| 89 |
+
"t_start": -0.9468442553105907,
|
| 90 |
+
"t_end": 215.52488795968938
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 43855,
|
| 94 |
+
"n_gyro": 43867,
|
| 95 |
+
"t_start": -0.9561619223103681,
|
| 96 |
+
"t_end": 215.61205667968997
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 21708,
|
| 100 |
+
"t_start": 0.11771769068954914,
|
| 101 |
+
"t_end": 217.18770508568932
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 21646,
|
| 105 |
+
"t_start": -0.928562476310528,
|
| 106 |
+
"t_end": 215.5217650616897
|
| 107 |
+
},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 21656,
|
| 110 |
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"t_start": -0.9433423303106812,
|
| 111 |
+
"t_end": 215.60663043468966
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 6029.875258,
|
| 118 |
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"frames": 6499,
|
| 119 |
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"pts_gaps": 0,
|
| 120 |
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"timing": "pts",
|
| 121 |
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"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039665127336864184,
|
| 124 |
+
"t_end": 216.63976512733652,
|
| 125 |
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"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 6029.875228,
|
| 131 |
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"frames": 6499,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
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