Release update 2026-11-05: new sessions, instructions, annotations (part 95)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +11 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/LittleBox5.csv +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/LittleBox5.trc +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/LittleBox6.csv +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/LittleBox6.trc +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/OpenBox.csv +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/OpenBox.trc +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH05/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH05/session_007/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH05/session_007/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH05/session_007/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH05/session_007/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH05/session_007/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_007/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_008/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH05/session_008/meta.json +568 -0
- actions/long_horizon_composite/LH05/session_008/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH05/session_008/motions/markers.npz +3 -0
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- actions/long_horizon_composite/LH05/session_008/motions/skeleton.npz +3 -0
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- actions/long_horizon_composite/LH05/session_008/raw/mocap/BigBox1.csv +0 -0
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- actions/long_horizon_composite/LH05/session_008/raw/mocap/Body0.bvh +0 -0
.gitattributes
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| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/LH05/20261031_085855_session59",
|
| 4 |
+
"session_id": "20261031_085855_session59",
|
| 5 |
+
"primitive": "LH05",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:49:56.817051+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": 118.825,
|
| 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": -0.083129,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9959,
|
| 32 |
+
"reference_imu_first_sample_s": 12983.555215399,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9959334036244006,
|
| 36 |
+
"drift_ppm": -0.9327306694765866,
|
| 37 |
+
"drift_se_ppm": 2.9098110522251046,
|
| 38 |
+
"drift_ms_over_take": -0.11082394904497642,
|
| 39 |
+
"lag_scatter_ms": 0.23639416738510924,
|
| 40 |
+
"lag_range_ms": 0.7331990420649803
|
| 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": "e3296774a321bb51",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 23999,
|
| 76 |
+
"n_gyro": 23993,
|
| 77 |
+
"t_start": -0.09464679593113232,
|
| 78 |
+
"t_end": 119.01904686706801
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 23885,
|
| 82 |
+
"n_gyro": 23879,
|
| 83 |
+
"t_start": 0.010819788067217645,
|
| 84 |
+
"t_end": 119.18502599906786
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24093,
|
| 88 |
+
"n_gyro": 24092,
|
| 89 |
+
"t_start": -0.8324934639313344,
|
| 90 |
+
"t_end": 117.91996768606803
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 23976,
|
| 94 |
+
"n_gyro": 23987,
|
| 95 |
+
"t_start": -0.8907695369325868,
|
| 96 |
+
"t_end": 117.914700474068
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 11926,
|
| 100 |
+
"t_start": 0.09334357906843962,
|
| 101 |
+
"t_end": 119.34342580306837
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 11874,
|
| 105 |
+
"t_start": -0.8146393259321687,
|
| 106 |
+
"t_end": 117.91559172606866
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 11879,
|
| 110 |
+
"t_start": -0.8739236119327163,
|
| 111 |
+
"t_end": 117.90670934906846
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 12983.675659,
|
| 118 |
+
"frames": 3564,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03986954051104277,
|
| 124 |
+
"t_end": 118.80653654051092,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 12983.675631,
|
| 131 |
+
"frames": 3564,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
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"timeshift_cam_imu_s": 0.002366886077403108,
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|
| 516 |
+
"RForearm",
|
| 517 |
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"RWristIn"
|
| 518 |
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]
|
| 519 |
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},
|
| 520 |
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"frames_used": 1426
|
| 521 |
+
},
|
| 522 |
+
"generated_at_utc": "2026-11-03T11:57:53.706112+00:00",
|
| 523 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 524 |
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}
|
| 525 |
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},
|
| 526 |
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"release": {
|
| 527 |
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"release_path": "actions/long_horizon_composite/LH05/session_008",
|
| 528 |
+
"family": "long_horizon_composite",
|
| 529 |
+
"primitive": "LH05",
|
| 530 |
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"source_session": "20261031/LH05/20261031_085855_session59"
|
| 531 |
+
},
|
| 532 |
+
"task": {
|
| 533 |
+
"primitive": "LH05",
|
| 534 |
+
"instruction": "1. Move everything from the second bin into the first bin. 2. Carry the empty bin to the shelf. 3. Carry the full bin to the table. 4. Tell the operator when you are finished."
|
| 535 |
+
},
|
| 536 |
+
"objects": [
|
| 537 |
+
{
|
| 538 |
+
"name": "BigBox1",
|
| 539 |
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"object_type": "BigBox",
|
| 540 |
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"source": "mocap",
|
| 541 |
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"pose_frame": "mesh"
|
| 542 |
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},
|
| 543 |
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{
|
| 544 |
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"name": "LittleBox1",
|
| 545 |
+
"object_type": "LittleBox",
|
| 546 |
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"source": "mocap",
|
| 547 |
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"pose_frame": "rigid_body"
|
| 548 |
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},
|
| 549 |
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{
|
| 550 |
+
"name": "LittleBox3",
|
| 551 |
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"object_type": "LittleBox",
|
| 552 |
+
"source": "mocap",
|
| 553 |
+
"pose_frame": "mesh"
|
| 554 |
+
},
|
| 555 |
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{
|
| 556 |
+
"name": "OpenBox",
|
| 557 |
+
"object_type": "OpenBox",
|
| 558 |
+
"source": "mocap",
|
| 559 |
+
"pose_frame": "rigid_body"
|
| 560 |
+
},
|
| 561 |
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{
|
| 562 |
+
"name": "Table",
|
| 563 |
+
"object_type": "Table",
|
| 564 |
+
"source": "mocap",
|
| 565 |
+
"pose_frame": "rigid_body"
|
| 566 |
+
}
|
| 567 |
+
]
|
| 568 |
+
}
|
actions/long_horizon_composite/LH05/session_008/motions/head_rig.npz
ADDED
|
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|
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size 1070383
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actions/long_horizon_composite/LH05/session_008/motions/markers.npz
ADDED
|
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version https://git-lfs.github.com/spec/v1
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size 8279230
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actions/long_horizon_composite/LH05/session_008/motions/object_markers.npz
ADDED
|
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 2319971
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actions/long_horizon_composite/LH05/session_008/motions/objects.json
ADDED
|
@@ -0,0 +1,121 @@
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|
| 1 |
+
{
|
| 2 |
+
"session": "20261031/LH05/20261031_085855_session59",
|
| 3 |
+
"generated_at_utc": "2026-11-04T21:02:43.024055+00:00",
|
| 4 |
+
"generated_by": "scripts/export_objects.py",
|
| 5 |
+
"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
|
| 6 |
+
"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
+
"held_by": "from mocap hands",
|
| 8 |
+
"instances": [
|
| 9 |
+
{
|
| 10 |
+
"name": "BigBox1",
|
| 11 |
+
"object_type": "BigBox",
|
| 12 |
+
"source": "mocap",
|
| 13 |
+
"pose_frame": "mesh",
|
| 14 |
+
"mesh": "objects/BigBox/bigbox.ply",
|
| 15 |
+
"calibration": {
|
| 16 |
+
"instance": "BigBox",
|
| 17 |
+
"rms_mm": 0.93
|
| 18 |
+
},
|
| 19 |
+
"valid_pct": 57.27,
|
| 20 |
+
"verified_pct": 57.21,
|
| 21 |
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"moving_pct": 11.96,
|
| 22 |
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"vision_source": null
|
| 23 |
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},
|
| 24 |
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{
|
| 25 |
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"name": "LittleBox1",
|
| 26 |
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"object_type": "LittleBox",
|
| 27 |
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"source": "mocap",
|
| 28 |
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"pose_frame": "rigid_body",
|
| 29 |
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"mesh": null,
|
| 30 |
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"calibration": null,
|
| 31 |
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"valid_pct": 65.61,
|
| 32 |
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"verified_pct": 65.57,
|
| 33 |
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"moving_pct": 14.24,
|
| 34 |
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"vision_source": null
|
| 35 |
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},
|
| 36 |
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{
|
| 37 |
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"name": "LittleBox3",
|
| 38 |
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"object_type": "LittleBox",
|
| 39 |
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"source": "mocap",
|
| 40 |
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"pose_frame": "mesh",
|
| 41 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 42 |
+
"calibration": {
|
| 43 |
+
"instance": "LittleBox3",
|
| 44 |
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"rms_mm": 0.67
|
| 45 |
+
},
|
| 46 |
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"valid_pct": 99.61,
|
| 47 |
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"verified_pct": 99.6,
|
| 48 |
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"moving_pct": 22.66,
|
| 49 |
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"vision_source": null
|
| 50 |
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},
|
| 51 |
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{
|
| 52 |
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"name": "OpenBox",
|
| 53 |
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"object_type": "OpenBox",
|
| 54 |
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"source": "mocap",
|
| 55 |
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"pose_frame": "rigid_body",
|
| 56 |
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"mesh": null,
|
| 57 |
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"calibration": null,
|
| 58 |
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"valid_pct": 99.49,
|
| 59 |
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"verified_pct": 99.48,
|
| 60 |
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"moving_pct": 12.11,
|
| 61 |
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"vision_source": null
|
| 62 |
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},
|
| 63 |
+
{
|
| 64 |
+
"name": "Table",
|
| 65 |
+
"object_type": "Table",
|
| 66 |
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"source": "mocap",
|
| 67 |
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"pose_frame": "rigid_body",
|
| 68 |
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"mesh": null,
|
| 69 |
+
"calibration": null,
|
| 70 |
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"valid_pct": 99.99,
|
| 71 |
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"verified_pct": 99.99,
|
| 72 |
+
"moving_pct": 0.0,
|
| 73 |
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"vision_source": null
|
| 74 |
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}
|
| 75 |
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],
|
| 76 |
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"absent": [],
|
| 77 |
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"object_list": {
|
| 78 |
+
"status": "corrected",
|
| 79 |
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"notes": [],
|
| 80 |
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"declared": [
|
| 81 |
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"BigBox1",
|
| 82 |
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"LittleBox1",
|
| 83 |
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"LittleBox3",
|
| 84 |
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"OpenBox0",
|
| 85 |
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"Table0"
|
| 86 |
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],
|
| 87 |
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"listed": [
|
| 88 |
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{
|
| 89 |
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"name": "BigBox1",
|
| 90 |
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"object": "BigBox",
|
| 91 |
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"source": "mocap",
|
| 92 |
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"needs_video_check": false
|
| 93 |
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},
|
| 94 |
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{
|
| 95 |
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"name": "LittleBox1",
|
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"object": "LittleBox",
|
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"source": "mocap",
|
| 98 |
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"needs_video_check": false
|
| 99 |
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},
|
| 100 |
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{
|
| 101 |
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"name": "LittleBox3",
|
| 102 |
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"object": "LittleBox",
|
| 103 |
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"source": "mocap",
|
| 104 |
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"needs_video_check": false
|
| 105 |
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},
|
| 106 |
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{
|
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"name": "OpenBox",
|
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"object": "OpenBox",
|
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"source": "mocap",
|
| 110 |
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"needs_video_check": false
|
| 111 |
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},
|
| 112 |
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{
|
| 113 |
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"name": "Table",
|
| 114 |
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"object": null,
|
| 115 |
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"source": "mocap",
|
| 116 |
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"needs_video_check": false
|
| 117 |
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}
|
| 118 |
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]
|
| 119 |
+
},
|
| 120 |
+
"notes": []
|
| 121 |
+
}
|
actions/long_horizon_composite/LH05/session_008/motions/objects.npz
ADDED
|
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| 3 |
+
size 2274610
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actions/long_horizon_composite/LH05/session_008/motions/skeleton.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 8350022
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actions/long_horizon_composite/LH05/session_008/motions/smplx.npz
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 5491577
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actions/long_horizon_composite/LH05/session_008/raw/audio.wav
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version https://git-lfs.github.com/spec/v1
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size 22897998
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