Release update 2026-11-05: new sessions, instructions, annotations (part 86)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +16 -0
- actions/long_horizon_composite/LH03/session_012/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH03/session_012/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH03/session_012/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH03/session_012/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH03/session_012/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH03/session_012/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH03/session_012/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_012/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH03/session_013/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH03/session_013/meta.json +715 -0
- actions/long_horizon_composite/LH03/session_013/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH03/session_013/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH03/session_013/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH03/session_013/motions/objects.json +165 -0
- actions/long_horizon_composite/LH03/session_013/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH03/session_013/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH03/session_013/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH03/session_013/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH03/session_013/raw/manifest.json +418 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/BigBox1.csv +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/BigBox1.trc +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/BigBox2.csv +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/BigBox2.trc +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/Body0.bvh +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/LittleBox3.csv +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/LittleBox3.trc +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/LittleBox6.csv +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/LittleBox6.trc +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/OpenBox.csv +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/OpenBox.trc +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH03/session_013/raw/mocap/Table.trc +0 -0
.gitattributes
CHANGED
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@@ -49057,3 +49057,19 @@ actions/long_horizon_composite/LH03/session_011/raw/sensors/robowrist_mag_left.d
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actions/long_horizon_composite/LH03/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_012/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 49057 |
actions/long_horizon_composite/LH03/session_011/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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| 49058 |
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| 49059 |
actions/long_horizon_composite/LH03/session_012/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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| 49060 |
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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| 49063 |
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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| 49064 |
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
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| 49065 |
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH03/session_012/raw/sensors/robocap_imu_left.db
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actions/long_horizon_composite/LH03/session_013/meta.json
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LH03/20261029_112306_session57",
|
| 4 |
+
"session_id": "20261029_112306_session57",
|
| 5 |
+
"primitive": "LH03",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "lvaoshan",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:34:26.761910+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": 125.025,
|
| 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": -0.083983,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.996,
|
| 32 |
+
"reference_imu_first_sample_s": 11678.586126983,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9962630866610491,
|
| 36 |
+
"drift_ppm": -2.4249089189545563,
|
| 37 |
+
"drift_se_ppm": 19.18921232925008,
|
| 38 |
+
"drift_ms_over_take": -0.30315403001796876,
|
| 39 |
+
"lag_scatter_ms": 1.8204485239504549,
|
| 40 |
+
"lag_range_ms": 7.168078708765401
|
| 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": 25250,
|
| 76 |
+
"n_gyro": 25244,
|
| 77 |
+
"t_start": -0.10050077934939707,
|
| 78 |
+
"t_end": 125.22327739764913
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25130,
|
| 82 |
+
"n_gyro": 25124,
|
| 83 |
+
"t_start": 0.007756262649116094,
|
| 84 |
+
"t_end": 125.3935370686493
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25376,
|
| 88 |
+
"n_gyro": 25376,
|
| 89 |
+
"t_start": -0.785361384350119,
|
| 90 |
+
"t_end": 124.29614734665009
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25264,
|
| 94 |
+
"n_gyro": 25264,
|
| 95 |
+
"t_start": -0.8936538133504766,
|
| 96 |
+
"t_end": 124.29829022565062
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12547,
|
| 100 |
+
"t_start": 0.09334934564939233,
|
| 101 |
+
"t_end": 125.55343194764899
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12507,
|
| 105 |
+
"t_start": -0.7675695963509608,
|
| 106 |
+
"t_end": 124.29277758064998
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12518,
|
| 110 |
+
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"wrist_bend_deg_median": 57.8,
|
| 492 |
+
"opposite_sign_bend_deg": 142.5,
|
| 493 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 494 |
+
"marker_frame_spread_deg": 2.26,
|
| 495 |
+
"hand_vs_marker_frame_deg": {
|
| 496 |
+
"before": 39.64,
|
| 497 |
+
"after": 2.26
|
| 498 |
+
},
|
| 499 |
+
"markers_on_wrist": [
|
| 500 |
+
"RWristOut",
|
| 501 |
+
"RHandIn",
|
| 502 |
+
"RHandOut"
|
| 503 |
+
],
|
| 504 |
+
"forearm_twist": {
|
| 505 |
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"twist_moved_deg": -49.89,
|
| 506 |
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"wrist_twist_deg_after": {
|
| 507 |
+
"median": -0.0,
|
| 508 |
+
"iqr": [
|
| 509 |
+
-2.8,
|
| 510 |
+
7.6
|
| 511 |
+
]
|
| 512 |
+
},
|
| 513 |
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"wrist_total_deg_median_after": 30.1,
|
| 514 |
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"markers_on_forearm": [
|
| 515 |
+
"RForearm",
|
| 516 |
+
"RWristIn"
|
| 517 |
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]
|
| 518 |
+
},
|
| 519 |
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"frames_used": 1500
|
| 520 |
+
},
|
| 521 |
+
"generated_at_utc": "2026-11-02T20:06:05.013057+00:00",
|
| 522 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 523 |
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}
|
| 524 |
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},
|
| 525 |
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"marker_relabel": {
|
| 526 |
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"generated_at_utc": "2026-11-02T19:42:40.468127+00:00",
|
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"generated_by": "scripts/relabel_marker_swaps.py",
|
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|
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|
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|
| 532 |
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"imu"
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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{
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|
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|
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|
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|
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|
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"t0": 61.05,
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|
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|
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"confirm": "imu",
|
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"err_as_labelled_deg": 131.3,
|
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|
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|
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"applied": false
|
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|
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|
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|
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|
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|
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|
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|
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]
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}
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},
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"applied": 5
|
| 660 |
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},
|
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"release": {
|
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"release_path": "actions/long_horizon_composite/LH03/session_013",
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"family": "long_horizon_composite",
|
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"primitive": "LH03",
|
| 665 |
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"source_session": "20261029/LH03/20261029_112306_session57"
|
| 666 |
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},
|
| 667 |
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"task": {
|
| 668 |
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"primitive": "LH03",
|
| 669 |
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"instruction": "1. Look at the shelf and see which spaces are empty. 2. Find matching items in the bins on the floor. 3. Fill the empty spaces on the shelf. 4. Tell the operator when you are finished."
|
| 670 |
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},
|
| 671 |
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"objects": [
|
| 672 |
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{
|
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"name": "BigBox1",
|
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|
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|
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"name": "BigBox2",
|
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"object_type": "BigBox",
|
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"source": "mocap",
|
| 682 |
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"pose_frame": "rigid_body"
|
| 683 |
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},
|
| 684 |
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{
|
| 685 |
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"name": "LittleBox3",
|
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"object_type": "LittleBox",
|
| 687 |
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"source": "mocap",
|
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"pose_frame": "mesh"
|
| 689 |
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},
|
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{
|
| 691 |
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"name": "LittleBox4",
|
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"object_type": "LittleBox",
|
| 693 |
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"source": "mocap",
|
| 694 |
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"pose_frame": "mesh"
|
| 695 |
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},
|
| 696 |
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{
|
| 697 |
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"name": "LittleBox6",
|
| 698 |
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"object_type": "LittleBox",
|
| 699 |
+
"source": "mocap",
|
| 700 |
+
"pose_frame": "mesh"
|
| 701 |
+
},
|
| 702 |
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{
|
| 703 |
+
"name": "OpenBox",
|
| 704 |
+
"object_type": "OpenBox",
|
| 705 |
+
"source": "mocap",
|
| 706 |
+
"pose_frame": "rigid_body"
|
| 707 |
+
},
|
| 708 |
+
{
|
| 709 |
+
"name": "Table",
|
| 710 |
+
"object_type": "Table",
|
| 711 |
+
"source": "mocap",
|
| 712 |
+
"pose_frame": "rigid_body"
|
| 713 |
+
}
|
| 714 |
+
]
|
| 715 |
+
}
|
actions/long_horizon_composite/LH03/session_013/motions/head_rig.npz
ADDED
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size 1131226
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actions/long_horizon_composite/LH03/session_013/motions/markers.npz
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actions/long_horizon_composite/LH03/session_013/motions/objects.json
ADDED
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"session": "20261029/LH03/20261029_112306_session57",
|
| 3 |
+
"generated_at_utc": "2026-11-04T20:26:13.595743+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": 0.74
|
| 18 |
+
},
|
| 19 |
+
"valid_pct": 99.99,
|
| 20 |
+
"verified_pct": 99.99,
|
| 21 |
+
"moving_pct": 0.0,
|
| 22 |
+
"vision_source": null
|
| 23 |
+
},
|
| 24 |
+
{
|
| 25 |
+
"name": "BigBox2",
|
| 26 |
+
"object_type": "BigBox",
|
| 27 |
+
"source": "mocap",
|
| 28 |
+
"pose_frame": "rigid_body",
|
| 29 |
+
"mesh": null,
|
| 30 |
+
"calibration": null,
|
| 31 |
+
"valid_pct": 99.99,
|
| 32 |
+
"verified_pct": 99.99,
|
| 33 |
+
"moving_pct": 0.0,
|
| 34 |
+
"vision_source": null
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"name": "LittleBox3",
|
| 38 |
+
"object_type": "LittleBox",
|
| 39 |
+
"source": "mocap",
|
| 40 |
+
"pose_frame": "mesh",
|
| 41 |
+
"mesh": "objects/LittleBox/littlebox.ply",
|
| 42 |
+
"calibration": {
|
| 43 |
+
"instance": "LittleBox3",
|
| 44 |
+
"rms_mm": 0.48
|
| 45 |
+
},
|
| 46 |
+
"valid_pct": 99.99,
|
| 47 |
+
"verified_pct": 99.99,
|
| 48 |
+
"moving_pct": 19.11,
|
| 49 |
+
"vision_source": null
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"name": "LittleBox4",
|
| 53 |
+
"object_type": "LittleBox",
|
| 54 |
+
"source": "mocap",
|
| 55 |
+
"pose_frame": "mesh",
|
| 56 |
+
"mesh": "objects/LittleBox/littlebox.ply",
|
| 57 |
+
"calibration": {
|
| 58 |
+
"instance": "LittleBox4",
|
| 59 |
+
"rms_mm": 0.4
|
| 60 |
+
},
|
| 61 |
+
"valid_pct": 99.75,
|
| 62 |
+
"verified_pct": 99.75,
|
| 63 |
+
"moving_pct": 15.56,
|
| 64 |
+
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{
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|
| 5 |
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|
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|
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|
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|
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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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| 33 |
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|
| 34 |
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|
| 35 |
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|
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|
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|
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| 42 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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