Upload folder using huggingface_hub (part 21)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- 1016-umi/session_20261019_145101_00189/right_hand/RGB_Images/timestamps.csv +708 -0
- 1016-umi/session_20261019_145101_00189/right_hand/RGB_Images/video.mp4 +3 -0
- 1016-umi/session_20261019_145159_00191/Logs/vive_broker_session.log +2 -0
- 1016-umi/session_20261019_145159_00191/Metadata/ui_backend_metadata.json +0 -0
- 1016-umi/session_20261019_145159_00191/control/stop_left_hand.flag +1 -0
- 1016-umi/session_20261019_145159_00191/left_hand/Clamp_Data/clamp_data_tum.txt +1050 -0
- 1016-umi/session_20261019_145159_00191/left_hand/Clamp_Data/clamp_timebase.csv +1051 -0
- 1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- 1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- 1016-umi/session_20261019_145159_00191/left_hand/Metadata/metadata.json +342 -0
- 1016-umi/session_20261019_145159_00191/left_hand/Metadata/pc_joint_metadata.json +0 -0
- 1016-umi/session_20261019_145159_00191/left_hand/Metadata/pc_metadata.json +101 -0
- 1016-umi/session_20261019_145159_00191/left_hand/RGB_Images/timestamps.csv +702 -0
- 1016-umi/session_20261019_145159_00191/left_hand/RGB_Images/video.mp4 +3 -0
- 1016-umi/session_20261019_145159_00191/right_hand/Clamp_Data/clamp_data_tum.txt +1050 -0
- 1016-umi/session_20261019_145159_00191/right_hand/Clamp_Data/clamp_timebase.csv +1051 -0
- 1016-umi/session_20261019_145159_00191/right_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- 1016-umi/session_20261019_145159_00191/right_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- 1016-umi/session_20261019_145159_00191/right_hand/Metadata/metadata.json +342 -0
- 1016-umi/session_20261019_145159_00191/right_hand/Metadata/pc_joint_metadata.json +0 -0
- 1016-umi/session_20261019_145159_00191/right_hand/Metadata/pc_metadata.json +101 -0
- 1016-umi/session_20261019_145159_00191/right_hand/RGB_Images/timestamps.csv +701 -0
- 1016-umi/session_20261019_145159_00191/right_hand/RGB_Images/video.mp4 +3 -0
- 1016-umi/session_20261019_145244_00192/Logs/vive_broker_session.log +2 -0
- 1016-umi/session_20261019_145244_00192/Metadata/ui_backend_metadata.json +0 -0
- 1016-umi/session_20261019_145244_00192/control/stop_left_hand.flag +1 -0
- 1016-umi/session_20261019_145244_00192/left_hand/Clamp_Data/clamp_data_tum.txt +1020 -0
- 1016-umi/session_20261019_145244_00192/left_hand/Clamp_Data/clamp_timebase.csv +1021 -0
- 1016-umi/session_20261019_145244_00192/left_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- 1016-umi/session_20261019_145244_00192/left_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- 1016-umi/session_20261019_145244_00192/left_hand/Metadata/metadata.json +342 -0
- 1016-umi/session_20261019_145244_00192/left_hand/Metadata/pc_joint_metadata.json +0 -0
- 1016-umi/session_20261019_145244_00192/left_hand/Metadata/pc_metadata.json +101 -0
- 1016-umi/session_20261019_145244_00192/left_hand/RGB_Images/timestamps.csv +681 -0
- 1016-umi/session_20261019_145244_00192/left_hand/RGB_Images/video.mp4 +3 -0
- 1016-umi/session_20261019_145244_00192/right_hand/Clamp_Data/clamp_data_tum.txt +1020 -0
- 1016-umi/session_20261019_145244_00192/right_hand/Clamp_Data/clamp_timebase.csv +1021 -0
- 1016-umi/session_20261019_145244_00192/right_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- 1016-umi/session_20261019_145244_00192/right_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- 1016-umi/session_20261019_145244_00192/right_hand/Metadata/metadata.json +342 -0
- 1016-umi/session_20261019_145244_00192/right_hand/Metadata/pc_joint_metadata.json +0 -0
- 1016-umi/session_20261019_145244_00192/right_hand/Metadata/pc_metadata.json +101 -0
- 1016-umi/session_20261019_145244_00192/right_hand/RGB_Images/timestamps.csv +682 -0
- 1016-umi/session_20261019_145244_00192/right_hand/RGB_Images/video.mp4 +3 -0
- 1016-umi/session_20261019_145311_00193/Logs/vive_broker_session.log +2 -0
- 1016-umi/session_20261019_145311_00193/Metadata/ui_backend_metadata.json +0 -0
- 1016-umi/session_20261019_145311_00193/control/stop_left_hand.flag +1 -0
- 1016-umi/session_20261019_145311_00193/left_hand/Clamp_Data/clamp_data_tum.txt +1160 -0
- 1016-umi/session_20261019_145311_00193/left_hand/Clamp_Data/clamp_timebase.csv +1161 -0
- 1016-umi/session_20261019_145311_00193/left_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
1016-umi/session_20261019_145101_00189/right_hand/RGB_Images/timestamps.csv
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| 1 |
+
1792392723.322718858 100.0000
|
| 2 |
+
1792392723.339376732 100.0000
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| 3 |
+
1792392723.356045458 100.0000
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| 4 |
+
1792392723.372712536 100.0000
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| 5 |
+
1792392723.389382595 100.0000
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| 6 |
+
1792392723.406045765 100.0000
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| 7 |
+
1792392723.422711083 100.0000
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| 8 |
+
1792392723.439375698 100.0000
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| 9 |
+
1792392723.456070183 100.0000
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| 10 |
+
1792392723.472706094 100.0000
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| 11 |
+
1792392723.489374523 100.0000
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| 12 |
+
1792392723.506054601 100.0000
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| 13 |
+
1792392723.522725641 100.0000
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| 14 |
+
1792392723.539373515 100.0000
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| 15 |
+
1792392723.556039482 100.0000
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| 16 |
+
1792392723.572716633 100.0000
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| 17 |
+
1792392723.589380378 100.0000
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| 18 |
+
1792392723.606042418 100.0000
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| 19 |
+
1792392723.622718588 100.0000
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| 20 |
+
1792392723.639379351 100.0000
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| 21 |
+
1792392723.656050262 100.0000
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| 22 |
+
1792392723.672718784 100.0000
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| 23 |
+
1792392723.689377602 100.0000
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| 24 |
+
1792392723.706047550 100.0000
|
| 25 |
+
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|
1016-umi/session_20261019_145159_00191/left_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,1051 @@
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1016-umi/session_20261019_145159_00191/left_hand/Metadata/metadata.json
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| 1 |
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{
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| 2 |
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"project": "Tele-UMI",
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"pi_data_root": "/home/zhang/TeleUMI/datasets"
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"policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
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"init_total_samples": 49,
|
| 276 |
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"init_bad_status_samples": 0,
|
| 277 |
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"capture_start_policy": "camera_first_frame",
|
| 278 |
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"camera_first_frame_wait_s": 9.203e-06,
|
| 279 |
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"camera_first_frame_ready": true,
|
| 280 |
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"effective_record_start_time_ns": 1792392723318088016,
|
| 281 |
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"camera_frame_count": 701,
|
| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
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"camera_last_frame_time_ns": 1792392740810274556,
|
| 287 |
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"camera_frame_timestamp_fps": 40.02360052211953,
|
| 288 |
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"camera_diagnostics": {
|
| 289 |
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"running": true,
|
| 290 |
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"session_open": false,
|
| 291 |
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"stream_first_frame_time_ns": 1792391342354568971,
|
| 292 |
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"stream_last_frame_time_ns": 1792392740810274556,
|
| 293 |
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"capture_count": 812,
|
| 294 |
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"capture_error_count": 0,
|
| 295 |
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"writer_count": 701,
|
| 296 |
+
"last_capture_error": null,
|
| 297 |
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"camera_encoder": "opencv_video_writer",
|
| 298 |
+
"camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
|
| 299 |
+
"camera_model": "ov5647",
|
| 300 |
+
"camera_profile": null,
|
| 301 |
+
"applied_camera_controls": {
|
| 302 |
+
"AeEnable": false,
|
| 303 |
+
"AwbEnable": false,
|
| 304 |
+
"Brightness": -0.05,
|
| 305 |
+
"Contrast": 1.15,
|
| 306 |
+
"Saturation": 1.0,
|
| 307 |
+
"Sharpness": 0.85,
|
| 308 |
+
"ExposureTime": 18000,
|
| 309 |
+
"AnalogueGain": 6.1,
|
| 310 |
+
"ColourGains": [
|
| 311 |
+
1.3,
|
| 312 |
+
1.55
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"camera_encoder": "opencv_video_writer",
|
| 317 |
+
"clamp_sample_count": 1050,
|
| 318 |
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"clamp_first_sample_time_ns": 1792392723322718858,
|
| 319 |
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"clamp_last_sample_time_ns": 1792392740806044249,
|
| 320 |
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"clamp_actual_hz": 60.000027256828396,
|
| 321 |
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"clamp_value_min": 96.16122709702773,
|
| 322 |
+
"clamp_value_max": 100.0,
|
| 323 |
+
"as5600_diagnostics": {
|
| 324 |
+
"queue_size": 600,
|
| 325 |
+
"queue_depth": 0,
|
| 326 |
+
"max_queue_depth": 426,
|
| 327 |
+
"read_count": 1692,
|
| 328 |
+
"read_error_count": 0,
|
| 329 |
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"queue_overrun_count": 0,
|
| 330 |
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"last_read_error": null
|
| 331 |
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},
|
| 332 |
+
"main_loop_iterations": 3596
|
| 333 |
+
},
|
| 334 |
+
"notes": [
|
| 335 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 336 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 337 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 338 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 339 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 340 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 341 |
+
]
|
| 342 |
+
}
|
1016-umi/session_20261019_145159_00191/left_hand/Metadata/pc_joint_metadata.json
ADDED
|
The diff for this file is too large to render.
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|
|
|
1016-umi/session_20261019_145159_00191/left_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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|
| 1 |
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{
|
| 2 |
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"project": "Tele-UMI",
|
| 3 |
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"version": "v2",
|
| 4 |
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"role": "windows_vive_dual_capture",
|
| 5 |
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"created_time_ns": 1792392719698269153,
|
| 6 |
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"platform": {
|
| 7 |
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"system": "Linux",
|
| 8 |
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"release": "6.8.0-138-generic",
|
| 9 |
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"machine": "x86_64"
|
| 10 |
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},
|
| 11 |
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"paths": {
|
| 12 |
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"run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand",
|
| 13 |
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"merged_trajectory_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory",
|
| 14 |
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"metadata_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Metadata",
|
| 15 |
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"vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 16 |
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"raw_vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 17 |
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"vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
|
| 18 |
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"raw_vive_txt_tmp_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
|
| 19 |
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"metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Metadata/pc_metadata.json"
|
| 20 |
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},
|
| 21 |
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"config": {
|
| 22 |
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"hand_name": "left_hand",
|
| 23 |
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"tracker_index": null,
|
| 24 |
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"tracker_indices": [
|
| 25 |
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null,
|
| 26 |
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null
|
| 27 |
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],
|
| 28 |
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"tracker_serial": "LHR-817EC589",
|
| 29 |
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"tracker_serials": [
|
| 30 |
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"LHR-817EC589",
|
| 31 |
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"LHR-4F99A346"
|
| 32 |
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],
|
| 33 |
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"vive_hz": 200.0,
|
| 34 |
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"max_seconds": 180.0,
|
| 35 |
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"stop_file": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/control/stop_left_hand.flag",
|
| 36 |
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"sync_mode": "deferred_arm",
|
| 37 |
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"capture_clock": "wall_clock",
|
| 38 |
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"capture_start_time_ns": 1792392723317214569,
|
| 39 |
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|
| 40 |
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|
| 41 |
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"capture_start_guard_s": 0.5,
|
| 42 |
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"bias_mode": "first_sample_at_or_after_t0",
|
| 43 |
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"output_format": "timestamp x y z qx qy qz qw",
|
| 44 |
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"raw_output_format": "timestamp x y z qx qy qz qw",
|
| 45 |
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"raw_vive_pose_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 46 |
+
"coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
|
| 47 |
+
"openvr_query_mode": "single_process_single_query_dual_tracker",
|
| 48 |
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"tracker_index_used": 2,
|
| 49 |
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"tracker_serial_used": "LHR-817EC589",
|
| 50 |
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"vive_bias": {
|
| 51 |
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"x0": 0.2235165685415268,
|
| 52 |
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"y0": -0.8810790777206421,
|
| 53 |
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"z0": -0.6231428980827332,
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| 54 |
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"qx0": 0.03882436448245657,
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| 55 |
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"qy0": 0.9152839737596387,
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| 56 |
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| 58 |
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},
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| 59 |
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| 60 |
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},
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| 61 |
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|
| 62 |
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"test_artifact": false,
|
| 63 |
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"result": {
|
| 64 |
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|
| 65 |
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| 66 |
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|
| 72 |
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|
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|
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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"artifacts": {
|
| 79 |
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|
| 80 |
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"path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 81 |
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"exists": true,
|
| 82 |
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"size_bytes": 384347
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| 83 |
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},
|
| 84 |
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"raw_trajectory": {
|
| 85 |
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"path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 86 |
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"exists": true,
|
| 87 |
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"size_bytes": 384264
|
| 88 |
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},
|
| 89 |
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"trajectory_tmp": {
|
| 90 |
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"path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
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| 91 |
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"exists": false,
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| 92 |
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"raw_trajectory_tmp": {
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"path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
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}
|
| 100 |
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}
|
| 101 |
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}
|
1016-umi/session_20261019_145159_00191/left_hand/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,702 @@
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696,1792392740710325312,1490559860298
|
| 699 |
+
697,1792392740734243505,1490583778249
|
| 700 |
+
698,1792392740760310434,1490609845179
|
| 701 |
+
699,1792392740784206349,1490633741853
|
| 702 |
+
700,1792392740810274556,1490659809356
|
1016-umi/session_20261019_145159_00191/left_hand/RGB_Images/video.mp4
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a1fdc32da70904ee7988800c13ce0315413ec4945362a4843c2b68a07d7601f2
|
| 3 |
+
size 21260683
|
1016-umi/session_20261019_145159_00191/right_hand/Clamp_Data/clamp_data_tum.txt
ADDED
|
@@ -0,0 +1,1050 @@
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|
1016-umi/session_20261019_145159_00191/right_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,1051 @@
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|
| 1 |
+
sample_id,timestamp_ns,monotonic_ns,value
|
| 2 |
+
0,1792392723320326228,1447292047533,99.9240
|
| 3 |
+
1,1792392723337266744,1447308988290,99.9240
|
| 4 |
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2,1792392723353659374,1447325380401,99.9240
|
| 5 |
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3,1792392723370332947,1447342054623,99.9240
|
| 6 |
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4,1792392723387005168,1447358728066,99.9240
|
| 7 |
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5,1792392723403658390,1447375379639,99.9240
|
| 8 |
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6,1792392723420331778,1447392053935,99.9240
|
| 9 |
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7,1792392723437000647,1447408721915,99.9240
|
| 10 |
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8,1792392723453663109,1447425384266,99.9240
|
| 11 |
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9,1792392723470330793,1447442052209,99.9240
|
| 12 |
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10,1792392723487000755,1447458722542,99.9240
|
| 13 |
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11,1792392723504157437,1447475879057,99.9240
|
| 14 |
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12,1792392723520329457,1447492050799,99.9240
|
| 15 |
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13,1792392723537008493,1447508730743,100.0000
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| 16 |
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14,1792392723553661585,1447525382649,100.0000
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| 17 |
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15,1792392723570328788,1447542049944,99.9240
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| 18 |
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16,1792392723587010435,1447558733592,99.9240
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| 19 |
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17,1792392723603661489,1447575382517,99.9240
|
| 20 |
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18,1792392723620328507,1447592049942,99.9240
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| 21 |
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19,1792392723637009061,1447608731644,100.0000
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| 22 |
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20,1792392723653657320,1447625378329,99.9240
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| 23 |
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21,1792392723670403726,1447642124753,99.9240
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| 24 |
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22,1792392723686999355,1447658720956,99.9240
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| 25 |
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| 26 |
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24,1792392723720291335,1447692012473,99.9240
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| 27 |
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25,1792392723736998704,1447708720028,99.9240
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| 28 |
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26,1792392723753690277,1447725412915,99.9240
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| 29 |
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27,1792392723770332295,1447742053896,99.9240
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| 30 |
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28,1792392723787004812,1447758726673,99.9240
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| 31 |
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29,1792392723803657367,1447775378302,99.9240
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| 32 |
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30,1792392723820328977,1447792050171,99.9240
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| 33 |
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31,1792392723836995976,1447808717448,99.9240
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| 34 |
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32,1792392723853658086,1447825379039,99.9240
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| 35 |
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33,1792392723870338418,1447842060094,99.9240
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| 36 |
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34,1792392723887008769,1447858731112,99.9240
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| 37 |
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35,1792392723903659713,1447875380703,99.9240
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| 38 |
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36,1792392723920329564,1447892050665,99.9240
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| 39 |
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37,1792392723937012729,1447908735275,99.9240
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| 40 |
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38,1792392723953659136,1447925380071,99.9240
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| 41 |
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39,1792392723970339802,1447942061866,99.9240
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| 42 |
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40,1792392723987002264,1447958724050,99.9240
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| 43 |
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41,1792392724003665892,1447975387235,99.9240
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| 44 |
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42,1792392724020333336,1447992054845,99.9240
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| 45 |
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43,1792392724037000372,1448008722233,99.9240
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| 46 |
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44,1792392724053663556,1448025384658,99.9240
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| 47 |
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45,1792392724070332092,1448042053749,100.0000
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| 48 |
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46,1792392724086999869,1448058721508,100.0000
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| 49 |
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47,1792392724103660961,1448075382173,100.0000
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| 50 |
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48,1792392724120333367,1448092055154,99.9240
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| 51 |
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49,1792392724136998477,1448108720375,100.0000
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| 52 |
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50,1792392724153660254,1448125381411,99.9240
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| 53 |
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51,1792392724170327420,1448142048595,99.9240
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| 54 |
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52,1792392724187004326,1448158726594,100.0000
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| 55 |
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53,1792392724203915269,1448175637389,100.0000
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| 56 |
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54,1792392724220326843,1448192048148,99.9240
|
| 57 |
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55,1792392724236974453,1448208697036,99.9240
|
| 58 |
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56,1792392724253659934,1448225380906,99.9240
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| 59 |
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57,1792392724270346618,1448242069830,99.9240
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| 60 |
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58,1792392724286999247,1448258720941,99.9240
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| 61 |
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59,1792392724303659431,1448275381217,99.9240
|
| 62 |
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60,1792392724320331893,1448292053254,99.9240
|
| 63 |
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61,1792392724336998559,1448308720123,100.0000
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| 64 |
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62,1792392724353631169,1448325352307,99.9240
|
| 65 |
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63,1792392724370330816,1448342052288,100.0000
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| 66 |
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64,1792392724387016000,1448358738639,99.9240
|
| 67 |
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65,1792392724403675388,1448375397452,99.9240
|
| 68 |
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66,1792392724420334554,1448392055952,100.0000
|
| 69 |
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67,1792392724436999090,1448408720988,99.9240
|
| 70 |
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68,1792392724453658719,1448425379746,99.9240
|
| 71 |
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69,1792392724470325699,1448442048189,100.0000
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| 72 |
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70,1792392724486995550,1448458718003,99.9240
|
| 73 |
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71,1792392724503637753,1448475359243,99.9240
|
| 74 |
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72,1792392724520651991,1448492374481,99.9240
|
| 75 |
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73,1792392724536999140,1448508720649,99.9240
|
| 76 |
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74,1792392724553660380,1448525381481,100.0000
|
| 77 |
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75,1792392724570341230,1448542063443,99.9240
|
| 78 |
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76,1792392724586998767,1448558721368,100.0000
|
| 79 |
+
77,1792392724603659210,1448575380256,99.9240
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1016-umi/session_20261019_145159_00191/right_hand/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
1016-umi/session_20261019_145159_00191/right_hand/Merged_Trajectory/raw_vive_pose.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
1016-umi/session_20261019_145159_00191/right_hand/Metadata/metadata.json
ADDED
|
@@ -0,0 +1,342 @@
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|
| 1 |
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{
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| 2 |
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"project": "Tele-UMI",
|
| 3 |
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"version": "v2",
|
| 4 |
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|
| 5 |
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| 6 |
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| 7 |
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| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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|
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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"hand_name": "right_hand",
|
| 198 |
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"camera": true,
|
| 199 |
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|
| 200 |
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|
| 201 |
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|
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|
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|
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|
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|
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|
| 212 |
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"mapping": "初始化最大开度角度=100，闭合角度=0",
|
| 213 |
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"reference_pose": "max_open",
|
| 214 |
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|
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|
| 216 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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"camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
|
| 223 |
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"preview_device": "/dev/fb0",
|
| 224 |
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|
| 233 |
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|
| 234 |
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"deferred_arm": true,
|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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|
| 239 |
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"enabled": false,
|
| 240 |
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|
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|
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|
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|
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|
| 249 |
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|
| 250 |
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"read_distributed": true,
|
| 251 |
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"write_header": false,
|
| 252 |
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"config_path": "./config/tactile.json",
|
| 253 |
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"model": "PX6AX-GEN3-CP-M3025-Core",
|
| 254 |
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"force_scale_n_per_lsb": 0.1,
|
| 255 |
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"timestamp": "主机收到并解析串口响应后调用 time.time_ns()",
|
| 256 |
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"hardware_synchronized": false,
|
| 257 |
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"integration_mode": "pi_session_optional_sidecar",
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| 258 |
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| 259 |
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|
| 264 |
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|
| 265 |
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"monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
|
| 266 |
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},
|
| 267 |
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"capture_clock": {
|
| 268 |
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"mode": "wall_clock",
|
| 269 |
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"policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
|
| 270 |
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},
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|
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|
| 300 |
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|
| 301 |
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| 302 |
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"AeEnable": false,
|
| 303 |
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"AwbEnable": false,
|
| 304 |
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"Brightness": -0.05,
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| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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"ExposureTime": 18000,
|
| 309 |
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"AnalogueGain": 6.1,
|
| 310 |
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"ColourGains": [
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| 311 |
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1.3,
|
| 312 |
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1.55
|
| 313 |
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]
|
| 314 |
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}
|
| 315 |
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},
|
| 316 |
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"camera_encoder": "opencv_video_writer",
|
| 317 |
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|
| 325 |
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|
| 326 |
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|
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|
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|
| 329 |
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|
| 330 |
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|
| 331 |
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},
|
| 332 |
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|
| 333 |
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},
|
| 334 |
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"notes": [
|
| 335 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 336 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 337 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 338 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 339 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 340 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 341 |
+
]
|
| 342 |
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}
|
1016-umi/session_20261019_145159_00191/right_hand/Metadata/pc_joint_metadata.json
ADDED
|
The diff for this file is too large to render.
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|
|
|
1016-umi/session_20261019_145159_00191/right_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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|
| 1 |
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{
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| 2 |
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"project": "Tele-UMI",
|
| 3 |
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|
| 4 |
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|
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| 11 |
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| 12 |
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| 13 |
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|
| 14 |
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| 15 |
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| 16 |
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"metadata_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/right_hand/Metadata/pc_metadata.json"
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| 20 |
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},
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| 21 |
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"config": {
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"hand_name": "right_hand",
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null,
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null
|
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],
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|
| 30 |
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"LHR-817EC589",
|
| 31 |
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"LHR-4F99A346"
|
| 32 |
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],
|
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| 36 |
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| 37 |
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|
| 43 |
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"output_format": "timestamp x y z qx qy qz qw",
|
| 44 |
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"raw_output_format": "timestamp x y z qx qy qz qw",
|
| 45 |
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"raw_vive_pose_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145159_00191/right_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 46 |
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"coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
|
| 47 |
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"openvr_query_mode": "single_process_single_query_dual_tracker",
|
| 48 |
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"tracker_index_used": 1,
|
| 49 |
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"tracker_serial_used": "LHR-4F99A346",
|
| 50 |
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|
| 51 |
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"x0": 0.39134737849235535,
|
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"y0": -1.118340015411377,
|
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"z0": -1.0518044233322144,
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},
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},
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|
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|
| 63 |
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| 76 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 88 |
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| 89 |
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| 90 |
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|
1016-umi/session_20261019_145159_00191/right_hand/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,701 @@
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| 1 |
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frame_id,timestamp_ns,monotonic_ns
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| 2 |
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| 1 |
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| 2 |
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1016-umi/session_20261019_145244_00192/left_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,1021 @@
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| 1 |
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{
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| 2 |
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"project": "Tele-UMI",
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| 3 |
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| 99 |
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| 120 |
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| 141 |
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},
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| 142 |
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|
| 143 |
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"enabled": true,
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| 144 |
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"role": "right",
|
| 145 |
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| 146 |
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| 147 |
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| 148 |
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},
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| 149 |
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"_source": {
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| 150 |
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"path": "/home/zhang/TeleUMI/config/teleumi_config.json"
|
| 151 |
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}
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| 152 |
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},
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| 196 |
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| 197 |
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|
| 198 |
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| 199 |
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| 200 |
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| 201 |
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| 212 |
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|
| 213 |
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| 214 |
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| 219 |
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|
| 220 |
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|
| 221 |
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| 222 |
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|
| 223 |
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| 224 |
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"deferred_arm": true,
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| 235 |
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"control_session_id": "session_20261019_145244_00192",
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| 239 |
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"enabled": false,
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| 240 |
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| 250 |
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| 251 |
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| 253 |
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"model": "PX6AX-GEN3-CP-M3025-Core",
|
| 254 |
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|
| 255 |
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"timestamp": "主机收到并解析串口��应后调用 time.time_ns()",
|
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|
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| 265 |
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"monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
|
| 266 |
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},
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| 268 |
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"mode": "wall_clock",
|
| 269 |
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"policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
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| 270 |
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},
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"camera_encoder": "opencv_video_writer",
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| 299 |
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"camera_model": "ov5647",
|
| 300 |
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|
| 301 |
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"applied_camera_controls": {
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| 302 |
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"AeEnable": false,
|
| 303 |
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"AwbEnable": false,
|
| 304 |
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"Brightness": -0.05,
|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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"ColourGains": [
|
| 311 |
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1.3,
|
| 312 |
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1.55
|
| 313 |
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]
|
| 314 |
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}
|
| 315 |
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},
|
| 316 |
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"camera_encoder": "opencv_video_writer",
|
| 317 |
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|
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|
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|
| 324 |
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"queue_size": 600,
|
| 325 |
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|
| 326 |
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"max_queue_depth": 600,
|
| 327 |
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|
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|
| 329 |
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|
| 330 |
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|
| 331 |
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},
|
| 332 |
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"main_loop_iterations": 3510
|
| 333 |
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},
|
| 334 |
+
"notes": [
|
| 335 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 336 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 337 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 338 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 339 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 340 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 341 |
+
]
|
| 342 |
+
}
|
1016-umi/session_20261019_145244_00192/left_hand/Metadata/pc_joint_metadata.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
1016-umi/session_20261019_145244_00192/left_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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| 1 |
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{
|
| 2 |
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"project": "Tele-UMI",
|
| 3 |
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"version": "v2",
|
| 4 |
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"role": "windows_vive_dual_capture",
|
| 5 |
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"created_time_ns": 1792392764348452644,
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"platform": {
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| 7 |
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"system": "Linux",
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"release": "6.8.0-138-generic",
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| 9 |
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"machine": "x86_64"
|
| 10 |
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},
|
| 11 |
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"paths": {
|
| 12 |
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"run_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145244_00192/left_hand",
|
| 13 |
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"merged_trajectory_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145244_00192/left_hand/Merged_Trajectory",
|
| 14 |
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"metadata_dir": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145244_00192/left_hand/Metadata",
|
| 15 |
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"vive_txt_path": "/home/teleai/Tele-UMI/TeleUMI-master/datasets/1016-umi/session_20261019_145244_00192/left_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 16 |
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| 17 |
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| 18 |
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| 19 |
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|
| 20 |
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| 21 |
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|
| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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|
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| 79 |
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|
| 80 |
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| 81 |
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|
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| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 90 |
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|
| 101 |
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|
1016-umi/session_20261019_145244_00192/left_hand/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,681 @@
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1016-umi/session_20261019_145244_00192/left_hand/RGB_Images/video.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 20938883
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1016-umi/session_20261019_145244_00192/right_hand/Clamp_Data/clamp_data_tum.txt
ADDED
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@@ -0,0 +1,1020 @@
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|
1016-umi/session_20261019_145244_00192/right_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,1021 @@
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1016-umi/session_20261019_145244_00192/right_hand/Merged_Trajectory/raw_vive_pose.txt
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1016-umi/session_20261019_145244_00192/right_hand/Metadata/metadata.json
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| 1 |
+
{
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| 2 |
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"project": "Tele-UMI",
|
| 3 |
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"version": "v2",
|
| 4 |
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"role": "raspberry_pi_capture",
|
| 5 |
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"created_time_ns": 1792392784811826221,
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"platform": {
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|
| 10 |
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},
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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"video_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_145244_00192/right_hand/RGB_Images/video.mp4",
|
| 17 |
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|
| 18 |
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"clamp_data_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_145244_00192/right_hand/Clamp_Data/clamp_data_tum.txt",
|
| 19 |
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"metadata_path": "/home/zhang/teleumi-v2/datasets/1016-umi/session_20261019_145244_00192/right_hand/Metadata/metadata.json",
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| 20 |
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| 21 |
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},
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| 22 |
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"config": {
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| 23 |
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| 24 |
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| 25 |
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"network": {
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| 26 |
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"pi_host": "192.168.157.6",
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| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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| 31 |
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|
| 33 |
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| 35 |
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},
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| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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},
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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|
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|
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|
| 48 |
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},
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| 49 |
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| 50 |
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| 51 |
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|
| 52 |
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|
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|
| 64 |
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| 70 |
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|
| 71 |
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| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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"pause_chrony_during_capture": true,
|
| 77 |
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"vive_bias": {
|
| 78 |
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| 79 |
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"validation_guard_s": 0.2,
|
| 80 |
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| 81 |
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| 82 |
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|
| 83 |
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| 84 |
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|
| 85 |
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|
| 86 |
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}
|
| 87 |
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},
|
| 88 |
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|
| 89 |
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"pi_http_s": 5.0,
|
| 90 |
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"pi_configure_total_s": 20.0,
|
| 91 |
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|
| 92 |
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"vive_preflight_s": 5.0,
|
| 93 |
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"vive_pose_wait_s": 2.0,
|
| 94 |
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"pi_finish_s": 30.0,
|
| 95 |
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"vive_finish_s": 10.0,
|
| 96 |
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"quality_check_s": 120.0,
|
| 97 |
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"pi_data_copy_s": 300.0,
|
| 98 |
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"robot_score_s": 300.0
|
| 99 |
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},
|
| 100 |
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"quality": {
|
| 101 |
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"max_rms_offset_s": 0.005,
|
| 102 |
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"max_last_offset_s": 0.005,
|
| 103 |
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"max_clock_offset_s": 0.005,
|
| 104 |
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"max_clock_drift_s": 0.001,
|
| 105 |
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"min_vive_hz": 150.0,
|
| 106 |
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"max_vive_hz": 220.0,
|
| 107 |
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"max_vive_gap_s": 0.025,
|
| 108 |
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"max_vive_drop_rate": 0.05,
|
| 109 |
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"max_vive_position_jump_m": 0.1,
|
| 110 |
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"max_vive_rotation_jump_deg": 30.0,
|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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"max_pi_duration_diff_s": 0.3,
|
| 119 |
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"max_video_timestamp_diff_s": 0.3,
|
| 120 |
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"max_joint_duration_diff_s": 0.06,
|
| 121 |
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"max_joint_start_diff_s": 0.05,
|
| 122 |
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"max_joint_end_diff_s": 0.05,
|
| 123 |
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"max_vive_start_offset_s": 0.025,
|
| 124 |
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"max_vive_end_offset_s": 0.025,
|
| 125 |
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"max_clamp_start_offset_s": 0.025,
|
| 126 |
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|
| 127 |
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"max_camera_start_offset_s": 0.05,
|
| 128 |
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|
| 129 |
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"max_camera_gap_s": 0.1,
|
| 130 |
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"max_camera_drop_rate": 0.05,
|
| 131 |
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"max_clamp_gap_s": 0.05,
|
| 132 |
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"max_clamp_drop_rate": 0.05,
|
| 133 |
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"max_clamp_saturation_ratio": 0.98,
|
| 134 |
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"min_duration_s": 0.0,
|
| 135 |
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"min_vive_samples": 1,
|
| 136 |
+
"min_camera_frames": 1,
|
| 137 |
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"min_clamp_samples": 1,
|
| 138 |
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"max_frame_count_diff": 3,
|
| 139 |
+
"video_probe_timeout_s": 10.0,
|
| 140 |
+
"video_decode_timeout_s": 120.0
|
| 141 |
+
},
|
| 142 |
+
"button_control": {
|
| 143 |
+
"enabled": true,
|
| 144 |
+
"role": "right",
|
| 145 |
+
"gpio_bcm": 17,
|
| 146 |
+
"debounce_ms": 50,
|
| 147 |
+
"hold_seconds": 1.0
|
| 148 |
+
},
|
| 149 |
+
"_source": {
|
| 150 |
+
"path": "/home/zhang/TeleUMI/config/teleumi_config.json"
|
| 151 |
+
}
|
| 152 |
+
},
|
| 153 |
+
"diagnostics": {
|
| 154 |
+
"stage": "idle",
|
| 155 |
+
"timing": {
|
| 156 |
+
"process_entry_time_ns": 1781523807784188470,
|
| 157 |
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"module_import_start_time_ns": 1781523807824766073,
|
| 158 |
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"import_log_utils_start_time_ns": 1781523807824767832,
|
| 159 |
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|
| 160 |
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"import_as5600_start_time_ns": 1781523807826871858,
|
| 161 |
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|
| 162 |
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"import_pi_session_start_time_ns": 1781523807885100591,
|
| 163 |
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"import_pi_session_end_time_ns": 1781523807968770451,
|
| 164 |
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"import_usb_camera_start_time_ns": 1781523807968771581,
|
| 165 |
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"import_usb_camera_end_time_ns": 1781523808028379177,
|
| 166 |
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"configure_stdio_start_time_ns": 1781523808074280474,
|
| 167 |
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"configure_stdio_end_time_ns": 1781523808074575010,
|
| 168 |
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"capture_entry_time_ns": 1792392764358539124,
|
| 169 |
+
"validate_start_time_ns": 1792392765341313978,
|
| 170 |
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"session_dir_create_start_time_ns": 1792392764359416509,
|
| 171 |
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"session_dir_create_end_time_ns": 1792392764361579907,
|
| 172 |
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"as5600_init_start_time_ns": 1792392764362773253,
|
| 173 |
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"as5600_init_end_time_ns": 1792392764363622009,
|
| 174 |
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"as5600_zero_start_time_ns": 1792392764364983318,
|
| 175 |
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"as5600_zero_end_time_ns": 1792392765175485373,
|
| 176 |
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"camera_init_start_time_ns": 1792392765177531901,
|
| 177 |
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"camera_init_end_time_ns": 1792392765180039908,
|
| 178 |
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"camera_start_start_time_ns": 1792392765181226310,
|
| 179 |
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"camera_start_end_time_ns": 1792392765183197486,
|
| 180 |
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"camera_first_frame_wait_start_time_ns": 1792392765185675383,
|
| 181 |
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"camera_first_frame_wait_end_time_ns": 1792392765189627180,
|
| 182 |
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"tactile_init_start_time_ns": null,
|
| 183 |
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"tactile_init_end_time_ns": null,
|
| 184 |
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"ready_time_ns": 1792392765191419801,
|
| 185 |
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"armed_time_ns": 1792392765340335279,
|
| 186 |
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"waiting_t0_time_ns": 1792392765343150766,
|
| 187 |
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"recording_start_time_ns": 1792392767799029896,
|
| 188 |
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"stop_request_time_ns": 1792392784089099752,
|
| 189 |
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"finalized_time_ns": 1792392784810752059
|
| 190 |
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},
|
| 191 |
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"last_error": null,
|
| 192 |
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"capture_start_time_ns": 1792392767794906056,
|
| 193 |
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"capture_stop_time_ns": 1792392784803591697
|
| 194 |
+
},
|
| 195 |
+
"sensor": "as5600",
|
| 196 |
+
"hand_mode": "dual",
|
| 197 |
+
"hand_name": "right_hand",
|
| 198 |
+
"camera": true,
|
| 199 |
+
"camera_type": "csi",
|
| 200 |
+
"preview": true,
|
| 201 |
+
"init_seconds": 0.8,
|
| 202 |
+
"loop_hz": 200.0,
|
| 203 |
+
"dry_run": false,
|
| 204 |
+
"i2c_bus": 1,
|
| 205 |
+
"i2c_address": "0x36",
|
| 206 |
+
"sensor_hz": 60.0,
|
| 207 |
+
"as5600_queue_size": 600,
|
| 208 |
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"open_angle_deg": 45.791,
|
| 209 |
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"gripper_open_mm": 85.0,
|
| 210 |
+
"gripper_calibration_json": null,
|
| 211 |
+
"allow_as5600_status_warning": true,
|
| 212 |
+
"mapping": "初始化最大开度角度=100，闭合角度=0",
|
| 213 |
+
"reference_pose": "max_open",
|
| 214 |
+
"camera_device": "0",
|
| 215 |
+
"camera_width": 1280,
|
| 216 |
+
"camera_height": 960,
|
| 217 |
+
"camera_fps": 40.0,
|
| 218 |
+
"camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
|
| 219 |
+
"camera_fourcc": "mp4v",
|
| 220 |
+
"camera_capture_pixel_format": "RGB888",
|
| 221 |
+
"camera_frame_color_order": "BGR",
|
| 222 |
+
"camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
|
| 223 |
+
"preview_device": "/dev/fb0",
|
| 224 |
+
"preview_fps": 10.0,
|
| 225 |
+
"preview_rotation": "none",
|
| 226 |
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"camera_first_frame_timeout_s": 5.0,
|
| 227 |
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"sync_mode": "immediate",
|
| 228 |
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"capture_start_time_ns": 1792392767794906056,
|
| 229 |
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"capture_stop_time_ns": 1792392784803591697,
|
| 230 |
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"effective_capture_stop_time_ns": 1792392784803591697,
|
| 231 |
+
"capture_start_guard_s": 0.5,
|
| 232 |
+
"stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_145244_00192.stop",
|
| 233 |
+
"diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261019_145244_00192.diagnostics.json",
|
| 234 |
+
"deferred_arm": true,
|
| 235 |
+
"control_session_id": "session_20261019_145244_00192",
|
| 236 |
+
"control_generation": 29,
|
| 237 |
+
"data_plane_mode": "persistent",
|
| 238 |
+
"tactile": {
|
| 239 |
+
"enabled": false,
|
| 240 |
+
"sensors": {},
|
| 241 |
+
"device_id": 1,
|
| 242 |
+
"baudrate": 921600,
|
| 243 |
+
"point_count": 77,
|
| 244 |
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"poll_hz": 80.0,
|
| 245 |
+
"response_timeout": 0.5,
|
| 246 |
+
"calibrate_on_start": true,
|
| 247 |
+
"calibration_delay_s": 2.0,
|
| 248 |
+
"init_seconds": 2.0,
|
| 249 |
+
"read_resultant": true,
|
| 250 |
+
"read_distributed": true,
|
| 251 |
+
"write_header": false,
|
| 252 |
+
"config_path": "./config/tactile.json",
|
| 253 |
+
"model": "PX6AX-GEN3-CP-M3025-Core",
|
| 254 |
+
"force_scale_n_per_lsb": 0.1,
|
| 255 |
+
"timestamp": "主机收到并解析串口响应后调用 time.time_ns()",
|
| 256 |
+
"hardware_synchronized": false,
|
| 257 |
+
"integration_mode": "pi_session_optional_sidecar",
|
| 258 |
+
"gate_time_source": "shared_capture_start_stop_time_ns",
|
| 259 |
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"capture_start_time_ns": 1792392767794906056,
|
| 260 |
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"capture_stop_time_ns": 1792392784803591697
|
| 261 |
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},
|
| 262 |
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"diagnostics_data": {
|
| 263 |
+
"monotonic_timestamp_enabled": true,
|
| 264 |
+
"corrected_time_enabled": false,
|
| 265 |
+
"monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
|
| 266 |
+
},
|
| 267 |
+
"capture_clock": {
|
| 268 |
+
"mode": "wall_clock",
|
| 269 |
+
"policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
|
| 270 |
+
},
|
| 271 |
+
"reference_angle_deg": 245.65246582098632,
|
| 272 |
+
"reference_source": "max_open_init",
|
| 273 |
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"zero_angle_deg": 245.65246582098632,
|
| 274 |
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"zero_source": "max_open_init",
|
| 275 |
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"init_total_samples": 48,
|
| 276 |
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"init_bad_status_samples": 0,
|
| 277 |
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"capture_start_policy": "camera_first_frame",
|
| 278 |
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"camera_first_frame_wait_s": 7.481e-06,
|
| 279 |
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"camera_first_frame_ready": true,
|
| 280 |
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"effective_record_start_time_ns": 1792392767799022396,
|
| 281 |
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"camera_frame_count": 681,
|
| 282 |
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|
| 283 |
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|
| 284 |
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"camera_actual_fps": 34.69251123706053,
|
| 285 |
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"camera_first_frame_time_ns": 1792392767808569298,
|
| 286 |
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"camera_last_frame_time_ns": 1792392784797696229,
|
| 287 |
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"camera_frame_timestamp_fps": 40.02560006536924,
|
| 288 |
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"camera_diagnostics": {
|
| 289 |
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"running": true,
|
| 290 |
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"session_open": false,
|
| 291 |
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"stream_first_frame_time_ns": 1792391345368045031,
|
| 292 |
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"stream_last_frame_time_ns": 1792392784797696229,
|
| 293 |
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"capture_count": 786,
|
| 294 |
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"capture_error_count": 0,
|
| 295 |
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"writer_count": 681,
|
| 296 |
+
"last_capture_error": null,
|
| 297 |
+
"camera_encoder": "opencv_video_writer",
|
| 298 |
+
"camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
|
| 299 |
+
"camera_model": "ov5647",
|
| 300 |
+
"camera_profile": null,
|
| 301 |
+
"applied_camera_controls": {
|
| 302 |
+
"AeEnable": false,
|
| 303 |
+
"AwbEnable": false,
|
| 304 |
+
"Brightness": -0.05,
|
| 305 |
+
"Contrast": 1.15,
|
| 306 |
+
"Saturation": 1.0,
|
| 307 |
+
"Sharpness": 0.85,
|
| 308 |
+
"ExposureTime": 18000,
|
| 309 |
+
"AnalogueGain": 6.1,
|
| 310 |
+
"ColourGains": [
|
| 311 |
+
1.3,
|
| 312 |
+
1.55
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"camera_encoder": "opencv_video_writer",
|
| 317 |
+
"clamp_sample_count": 1020,
|
| 318 |
+
"clamp_first_sample_time_ns": 1792392767803658709,
|
| 319 |
+
"clamp_last_sample_time_ns": 1792392784787000018,
|
| 320 |
+
"clamp_actual_hz": 59.999971822976924,
|
| 321 |
+
"clamp_value_min": 88.29574136623721,
|
| 322 |
+
"clamp_value_max": 100.0,
|
| 323 |
+
"as5600_diagnostics": {
|
| 324 |
+
"queue_size": 600,
|
| 325 |
+
"queue_depth": 0,
|
| 326 |
+
"max_queue_depth": 600,
|
| 327 |
+
"read_count": 4332,
|
| 328 |
+
"read_error_count": 0,
|
| 329 |
+
"queue_overrun_count": 813,
|
| 330 |
+
"last_read_error": null
|
| 331 |
+
},
|
| 332 |
+
"main_loop_iterations": 3442
|
| 333 |
+
},
|
| 334 |
+
"notes": [
|
| 335 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 336 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 337 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 338 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 339 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 340 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 341 |
+
]
|
| 342 |
+
}
|
1016-umi/session_20261019_145244_00192/right_hand/Metadata/pc_joint_metadata.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
1016-umi/session_20261019_145244_00192/right_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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|
| 1 |
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{
|
| 2 |
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"project": "Tele-UMI",
|
| 3 |
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|
| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
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| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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| 13 |
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| 20 |
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| 21 |
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| 25 |
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| 30 |
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| 32 |
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| 47 |
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|
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| 86 |
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|
1016-umi/session_20261019_145244_00192/right_hand/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,682 @@
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|
1016-umi/session_20261019_145311_00193/left_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,1161 @@
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|
| 1 |
+
sample_id,timestamp_ns,monotonic_ns,value
|
| 2 |
+
0,1792392795624875898,1545474410643,97.2306
|
| 3 |
+
1,1792392795641538272,1545491072609,97.2306
|
| 4 |
+
2,1792392795658204868,1545507739724,97.2306
|
| 5 |
+
3,1792392795674871835,1545524406264,97.2306
|
| 6 |
+
4,1792392795691700301,1545541235379,97.2306
|
| 7 |
+
5,1792392795708212453,1545557747642,97.2306
|
| 8 |
+
6,1792392795724881864,1545574416293,97.2306
|
| 9 |
+
7,1792392795741532960,1545591067316,97.2306
|
| 10 |
+
8,1792392795758201611,1545607736708,97.2306
|
| 11 |
+
9,1792392795774886022,1545624422193,97.2306
|
| 12 |
+
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1016-umi/session_20261019_145311_00193/left_hand/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|