Release update 2026-11-05: new sessions, instructions, annotations (part 131)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261027/LM67/20261027_054806_session78",
|
| 4 |
+
"session_id": "20261027_054806_session78",
|
| 5 |
+
"primitive": "LM67",
|
| 6 |
+
"batch": "20261027",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-28T19:56:23.328072+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": 124.025,
|
| 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": -0.080892,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9853,
|
| 32 |
+
"reference_imu_first_sample_s": 19315.562005651,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9850014707799555,
|
| 36 |
+
"drift_ppm": -7.2492335255243185,
|
| 37 |
+
"drift_se_ppm": 6.705459570480116,
|
| 38 |
+
"drift_ms_over_take": -0.8990257777237743,
|
| 39 |
+
"lag_scatter_ms": 0.6361357500267458,
|
| 40 |
+
"lag_range_ms": 2.3061214332388555
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"units": {
|
| 44 |
+
"mocap": "millimetres, Nokov world, Y-up (unchanged)",
|
| 45 |
+
"y_up_to_z_up": [
|
| 46 |
+
[
|
| 47 |
+
1.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
0.0,
|
| 54 |
+
-1.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
],
|
| 62 |
+
"acc": "m/s^2 (8192 LSB/g)",
|
| 63 |
+
"gyro": "rad/s (65.536 LSB/dps)",
|
| 64 |
+
"mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
|
| 65 |
+
"quaternions": "xyzw, Nokov global"
|
| 66 |
+
},
|
| 67 |
+
"calibration": {
|
| 68 |
+
"device": "c9205ac6e17d2d5c",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 25241,
|
| 76 |
+
"n_gyro": 25234,
|
| 77 |
+
"t_start": -0.09721266023057086,
|
| 78 |
+
"t_end": 124.23246255677209
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25087,
|
| 82 |
+
"n_gyro": 25081,
|
| 83 |
+
"t_start": 0.012460724772108564,
|
| 84 |
+
"t_end": 124.40085375577242
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24426,
|
| 88 |
+
"n_gyro": 24427,
|
| 89 |
+
"t_start": -0.9179019762291775,
|
| 90 |
+
"t_end": 122.42835971577138
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24344,
|
| 94 |
+
"n_gyro": 24343,
|
| 95 |
+
"t_start": -0.8048182762309354,
|
| 96 |
+
"t_end": 122.43662918377
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12448,
|
| 100 |
+
"t_start": 0.09440083977228807,
|
| 101 |
+
"t_end": 124.56444869077082
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12334,
|
| 105 |
+
"t_start": -0.9040200172299139,
|
| 106 |
+
"t_end": 122.42542946977251
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12313,
|
| 110 |
+
"t_start": -0.7912190012307748,
|
| 111 |
+
"t_end": 122.42837488677237
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 19315.679514,
|
| 118 |
+
"frames": 3720,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03924506741664101,
|
| 124 |
+
"t_end": 124.00586706741656,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 19315.679489,
|
| 131 |
+
"frames": 3720,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03900974638368081,
|
| 137 |
+
"t_end": 124.0056317463836,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 19315.679505,
|
| 144 |
+
"frames": 3720,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.03906657883767349,
|
| 150 |
+
"t_end": 124.00568857883759,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 19315.679522,
|
| 157 |
+
"frames": 3720,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0021420814739499558,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.0387667132431032,
|
| 163 |
+
"t_end": 124.00538871324302,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 19315.679498,
|
| 170 |
+
"frames": 3720,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002801984596191448,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.039402616368033536,
|
| 176 |
+
"t_end": 124.00602461636795,
|
| 177 |
+
"clock": "device",
|
| 178 |
+
"calibrated": true
|
| 179 |
+
},
|
| 180 |
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"right_eye": {
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 2543338
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actions/locomanipulation/LM67/session_016/motions/objects.json
ADDED
|
@@ -0,0 +1,146 @@
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|
| 1 |
+
{
|
| 2 |
+
"session": "20261027/LM67/20261027_054806_session78",
|
| 3 |
+
"generated_at_utc": "2026-11-04T19:58:33.194335+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 |
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"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
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"held_by": "from mocap hands",
|
| 8 |
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"instances": [
|
| 9 |
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{
|
| 10 |
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"name": "BigBox2",
|
| 11 |
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"object_type": "BigBox",
|
| 12 |
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"source": "mocap",
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| 13 |
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"pose_frame": "rigid_body",
|
| 14 |
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"mesh": null,
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| 15 |
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"calibration": null,
|
| 16 |
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"valid_pct": 1.21,
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| 17 |
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| 18 |
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"moving_pct": 1.07,
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| 19 |
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"vision_source": null
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| 20 |
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},
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| 21 |
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{
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| 22 |
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"name": "LittleBox3",
|
| 23 |
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"object_type": "LittleBox",
|
| 24 |
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"source": "mocap",
|
| 25 |
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"pose_frame": "mesh",
|
| 26 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 27 |
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"calibration": {
|
| 28 |
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"instance": "LittleBox3",
|
| 29 |
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"rms_mm": 0.55
|
| 30 |
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},
|
| 31 |
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"valid_pct": 99.58,
|
| 32 |
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"verified_pct": 99.57,
|
| 33 |
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"moving_pct": 9.18,
|
| 34 |
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"vision_source": null
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| 35 |
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},
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| 36 |
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{
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| 37 |
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"name": "LittleBox4",
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| 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 |
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"calibration": {
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| 43 |
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"instance": "LittleBox4",
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| 44 |
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"rms_mm": 0.22
|
| 45 |
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},
|
| 46 |
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"valid_pct": 99.99,
|
| 47 |
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"verified_pct": 99.99,
|
| 48 |
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"moving_pct": 6.93,
|
| 49 |
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"vision_source": null
|
| 50 |
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},
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| 51 |
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{
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| 52 |
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"name": "LittleBox5",
|
| 53 |
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"object_type": "LittleBox",
|
| 54 |
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"source": "mocap",
|
| 55 |
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"pose_frame": "mesh",
|
| 56 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 57 |
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"calibration": {
|
| 58 |
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"instance": "LittleBox5",
|
| 59 |
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"rms_mm": 2.13
|
| 60 |
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},
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"valid_pct": 99.03,
|
| 62 |
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|
| 63 |
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|
| 64 |
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"vision_source": null
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| 65 |
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},
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| 66 |
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{
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| 67 |
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"name": "LittleBox6",
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| 68 |
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"object_type": "LittleBox",
|
| 69 |
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"source": "mocap",
|
| 70 |
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"pose_frame": "mesh",
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| 71 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 72 |
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"calibration": {
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| 73 |
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"instance": "LittleBox6",
|
| 74 |
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"rms_mm": 1.58
|
| 75 |
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},
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| 76 |
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"valid_pct": 94.94,
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| 77 |
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"verified_pct": 94.91,
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{
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| 83 |
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| 84 |
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"source": "mocap",
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| 85 |
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}
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],
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"absent": [],
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| 95 |
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"object_list": {
|
| 96 |
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"status": "corrected",
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| 97 |
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"notes": [],
|
| 98 |
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"declared": [
|
| 99 |
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"BigBox2",
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| 100 |
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"LittleBox3",
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| 101 |
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"LittleBox4",
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| 102 |
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"LittleBox5",
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| 103 |
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"LittleBox6",
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| 104 |
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"Table0"
|
| 105 |
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],
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| 106 |
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"listed": [
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| 107 |
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| 108 |
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"name": "BigBox2",
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| 109 |
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"object": "BigBox",
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| 110 |
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"source": "mocap",
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| 111 |
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"needs_video_check": false
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| 112 |
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},
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| 113 |
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{
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| 114 |
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"name": "LittleBox3",
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"object": "LittleBox",
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"source": "mocap",
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{
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"name": "LittleBox4",
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"object": "LittleBox",
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| 124 |
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| 125 |
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{
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| 126 |
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"name": "LittleBox5",
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"object": "LittleBox",
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| 128 |
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"source": "mocap",
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| 129 |
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| 130 |
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| 131 |
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{
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| 132 |
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"name": "LittleBox6",
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"object": "LittleBox",
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| 134 |
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"source": "mocap",
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|
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|
| 143 |
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|
| 144 |
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},
|
| 145 |
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"notes": []
|
| 146 |
+
}
|
actions/locomanipulation/LM67/session_016/motions/objects.npz
ADDED
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actions/locomanipulation/LM67/session_016/motions/skeleton.npz
ADDED
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