Release update 2026-11-05: new sessions, instructions, annotations (part 22)
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/20261023/LM84/20261023_014133_session16",
|
| 4 |
+
"session_id": "20261023_014133_session16",
|
| 5 |
+
"primitive": "LM84",
|
| 6 |
+
"batch": "20261023",
|
| 7 |
+
"participant": "wangyang",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:41:19.305042+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": 135.05833333333334,
|
| 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": -0.07985,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9832,
|
| 32 |
+
"reference_imu_first_sample_s": 4807.535030227,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 12,
|
| 35 |
+
"window_corr_median": 0.9829270069862894,
|
| 36 |
+
"drift_ppm": -13.397033893224773,
|
| 37 |
+
"drift_se_ppm": 9.969112759707897,
|
| 38 |
+
"drift_ms_over_take": -1.8092694272800056,
|
| 39 |
+
"lag_scatter_ms": 1.0882631007655896,
|
| 40 |
+
"lag_range_ms": 3.7754162364355413
|
| 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": 27477,
|
| 76 |
+
"n_gyro": 27471,
|
| 77 |
+
"t_start": -0.0962421417767436,
|
| 78 |
+
"t_end": 135.24285703922342
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 27308,
|
| 82 |
+
"n_gyro": 27303,
|
| 83 |
+
"t_start": 0.012682243223393078,
|
| 84 |
+
"t_end": 135.4092447692241
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26772,
|
| 88 |
+
"n_gyro": 26773,
|
| 89 |
+
"t_start": -0.8526982617764551,
|
| 90 |
+
"t_end": 134.342598585224
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 26689,
|
| 94 |
+
"n_gyro": 26689,
|
| 95 |
+
"t_start": -0.7667972527766287,
|
| 96 |
+
"t_end": 134.34497938022324
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 13549,
|
| 100 |
+
"t_start": 0.09748239922410364,
|
| 101 |
+
"t_end": 135.57748713122365
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 13519,
|
| 105 |
+
"t_start": -0.8388531217766249,
|
| 106 |
+
"t_end": 134.34040826822402
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 13510,
|
| 110 |
+
"t_start": -0.7483170057763309,
|
| 111 |
+
"t_end": 134.3412799382235
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 4807.652218,
|
| 118 |
+
"frames": 4051,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039966252871094246,
|
| 124 |
+
"t_end": 135.04004425287113,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 4807.65218,
|
| 131 |
+
"frames": 4051,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039717931840099543,
|
| 137 |
+
"t_end": 135.03977393183996,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 4807.652206,
|
| 144 |
+
"frames": 4051,
|
| 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": 0.03978476429020163,
|
| 150 |
+
"t_end": 135.03985176429015,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 4807.652231,
|
| 157 |
+
"frames": 4051,
|
| 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": 0.039492898697430126,
|
| 163 |
+
"t_end": 135.03957089869746,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 4807.652194,
|
| 170 |
+
"frames": 4051,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
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},
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"file": "derived/rig_tracker_provider/rig_tracker.json",
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},
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},
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"tracker0_zup.npz",
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"rig_zup.npz",
|
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"cameras_zup.npz"
|
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]
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},
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"file": "smplx.npz",
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"gender": "male",
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|
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"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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|
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|
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|
| 399 |
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},
|
| 400 |
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"worst_markers": [
|
| 401 |
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"LShin 16mm",
|
| 402 |
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"CLAV 15mm",
|
| 403 |
+
"STRN 13mm",
|
| 404 |
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"WaistLSide 12mm",
|
| 405 |
+
"LKneeIn 11mm"
|
| 406 |
+
],
|
| 407 |
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"valid_fraction": 1.0,
|
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|
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|
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"median": 4.0,
|
| 411 |
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"p5": -2.3
|
| 412 |
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},
|
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|
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|
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},
|
| 416 |
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|
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"weight": 1.0,
|
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|
| 419 |
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|
| 420 |
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|
| 421 |
+
},
|
| 422 |
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"shape_source": "participant median",
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| 423 |
+
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| 424 |
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"left": {
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"status": "corrected",
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|
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|
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|
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0.10359,
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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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|
| 444 |
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],
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|
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|
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|
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-35.1,
|
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-4.7
|
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]
|
| 453 |
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},
|
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|
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|
| 456 |
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"LForearm",
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| 457 |
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"LWristIn",
|
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"LWristOut"
|
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]
|
| 460 |
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},
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| 461 |
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| 462 |
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},
|
| 463 |
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|
| 466 |
+
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|
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0.53962,
|
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0.37899,
|
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|
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],
|
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|
| 472 |
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|
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|
| 474 |
+
"in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
|
| 475 |
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|
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|
| 477 |
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|
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|
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},
|
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|
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"RWristIn",
|
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"RWristOut",
|
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"RHandIn",
|
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"RHandOut"
|
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],
|
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|
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|
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-6.3,
|
| 492 |
+
5.7
|
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]
|
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},
|
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"wrist_total_deg_median_after": 18.8,
|
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|
| 497 |
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"RForearm"
|
| 498 |
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]
|
| 499 |
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},
|
| 500 |
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"frames_used": 1500
|
| 501 |
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},
|
| 502 |
+
"generated_at_utc": "2026-11-03T09:41:58.188857+00:00",
|
| 503 |
+
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 504 |
+
}
|
| 505 |
+
},
|
| 506 |
+
"release": {
|
| 507 |
+
"release_path": "actions/locomanipulation/LM84/session_011",
|
| 508 |
+
"family": "locomanipulation",
|
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+
"primitive": "LM84",
|
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"source_session": "20261023/LM84/20261023_014133_session16"
|
| 511 |
+
},
|
| 512 |
+
"task": {
|
| 513 |
+
"primitive": "LM84",
|
| 514 |
+
"instruction": "Reach down into the deep bin on the floor, take out one object at a time, carry it to the shelf, and come back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 515 |
+
},
|
| 516 |
+
"objects": [
|
| 517 |
+
{
|
| 518 |
+
"name": "LittleBox1",
|
| 519 |
+
"object_type": "LittleBox",
|
| 520 |
+
"source": "mocap",
|
| 521 |
+
"pose_frame": "rigid_body"
|
| 522 |
+
},
|
| 523 |
+
{
|
| 524 |
+
"name": "LittleBox2",
|
| 525 |
+
"object_type": "LittleBox",
|
| 526 |
+
"source": "mocap",
|
| 527 |
+
"pose_frame": "mesh"
|
| 528 |
+
},
|
| 529 |
+
{
|
| 530 |
+
"name": "LittleBox3",
|
| 531 |
+
"object_type": "LittleBox",
|
| 532 |
+
"source": "mocap",
|
| 533 |
+
"pose_frame": "mesh"
|
| 534 |
+
},
|
| 535 |
+
{
|
| 536 |
+
"name": "LittleBox4",
|
| 537 |
+
"object_type": "LittleBox",
|
| 538 |
+
"source": "mocap",
|
| 539 |
+
"pose_frame": "mesh"
|
| 540 |
+
},
|
| 541 |
+
{
|
| 542 |
+
"name": "LittleBox5",
|
| 543 |
+
"object_type": "LittleBox",
|
| 544 |
+
"source": "mocap",
|
| 545 |
+
"pose_frame": "mesh"
|
| 546 |
+
},
|
| 547 |
+
{
|
| 548 |
+
"name": "LittleBox6",
|
| 549 |
+
"object_type": "LittleBox",
|
| 550 |
+
"source": "mocap",
|
| 551 |
+
"pose_frame": "mesh"
|
| 552 |
+
},
|
| 553 |
+
{
|
| 554 |
+
"name": "OpenBox",
|
| 555 |
+
"object_type": "OpenBox",
|
| 556 |
+
"source": "mocap",
|
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| 1 |
+
{
|
| 2 |
+
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| 3 |
+
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| 4 |
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|
| 5 |
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| 6 |
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|
| 7 |
+
"dataset_path": "EgoMotionActions/20261023/LM84/20261023_014133_session16",
|
| 8 |
+
"segment": "auto/all",
|
| 9 |
+
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|
| 10 |
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| 11 |
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| 12 |
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|
| 13 |
+
"right": "a85418f7d807dff9"
|
| 14 |
+
},
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| 15 |
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|
| 16 |
+
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|
| 17 |
+
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|
| 18 |
+
"LittleBox2",
|
| 19 |
+
"LittleBox3",
|
| 20 |
+
"LittleBox4",
|
| 21 |
+
"LittleBox5",
|
| 22 |
+
"LittleBox6",
|
| 23 |
+
"OpenBox",
|
| 24 |
+
"Table2",
|
| 25 |
+
"Tracker0"
|
| 26 |
+
],
|
| 27 |
+
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|
| 28 |
+
"LittleBox1",
|
| 29 |
+
"LittleBox2",
|
| 30 |
+
"LittleBox3",
|
| 31 |
+
"LittleBox4",
|
| 32 |
+
"LittleBox5",
|
| 33 |
+
"LittleBox6",
|
| 34 |
+
"OpenBox0",
|
| 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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| 41 |
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| 42 |
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| 43 |
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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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| 52 |
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| 53 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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|
| 60 |
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|
| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
+
],
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| 67 |
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| 68 |
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| 69 |
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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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| 83 |
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