Release update 2026-11-05: 5760 sessions, instructions, annotations (part 352)
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/20261102/LM10/20261102_110019_session180",
|
| 4 |
+
"session_id": "20261102_110019_session180",
|
| 5 |
+
"primitive": "LM10",
|
| 6 |
+
"batch": "20261102",
|
| 7 |
+
"participant": "wangzhixin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e17c9efadb69e7b1",
|
| 11 |
+
"left": "cc5681142208e29a",
|
| 12 |
+
"right": "a85418f7d807dff9"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T21:43:33.731000+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": 122.925,
|
| 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": -0.087092,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9827,
|
| 32 |
+
"reference_imu_first_sample_s": 18958.255539481,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9861971303431998,
|
| 36 |
+
"drift_ppm": -489.4585193022609,
|
| 37 |
+
"drift_se_ppm": 260.45073252078123,
|
| 38 |
+
"drift_ms_over_take": -60.16260966423624,
|
| 39 |
+
"lag_scatter_ms": 24.708525990748697,
|
| 40 |
+
"lag_range_ms": 103.53268204030628
|
| 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": "e17c9efadb69e7b1",
|
| 69 |
+
"status": "ok",
|
| 70 |
+
"date": "2026-09-08"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 24719,
|
| 76 |
+
"n_gyro": 24712,
|
| 77 |
+
"t_start": -0.09906699983557103,
|
| 78 |
+
"t_end": 123.13440265916498
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 24675,
|
| 82 |
+
"n_gyro": 24669,
|
| 83 |
+
"t_start": 0.007181916163887372,
|
| 84 |
+
"t_end": 123.29720412516318
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 24276,
|
| 88 |
+
"n_gyro": 24275,
|
| 89 |
+
"t_start": -0.8864364998372306,
|
| 90 |
+
"t_end": 121.7175259071627
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 24202,
|
| 94 |
+
"n_gyro": 24214,
|
| 95 |
+
"t_start": -0.8109006218365661,
|
| 96 |
+
"t_end": 121.72500467516502
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12338,
|
| 100 |
+
"t_start": 0.09226166616272764,
|
| 101 |
+
"t_end": 123.46225543416213
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12259,
|
| 105 |
+
"t_start": -0.8673835478367377,
|
| 106 |
+
"t_end": 121.71255847216517
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12252,
|
| 110 |
+
"t_start": -0.7923196648372081,
|
| 111 |
+
"t_end": 121.71742208716378
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 18958.380889,
|
| 118 |
+
"frames": 3687,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0023423887986386703,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040599641961222524,
|
| 124 |
+
"t_end": 122.90728864195981,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 18958.380855,
|
| 131 |
+
"frames": 3687,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0019489646456461974,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.04017221781023779,
|
| 137 |
+
"t_end": 122.90683921780865,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 18958.380877,
|
| 144 |
+
"frames": 3687,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0018171232386612972,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.04006237640342676,
|
| 150 |
+
"t_end": 122.90675137640201,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 18958.380903,
|
| 157 |
+
"frames": 3687,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.0017295646474508202,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.04000081781114802,
|
| 163 |
+
"t_end": 122.90668981780973,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 18958.380866,
|
| 170 |
+
"frames": 3687,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.001668932298833096,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
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|
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|
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}
|
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|
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|
| 513 |
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"primitive": "LM10",
|
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"instruction": "Take an object out of the bin at knee height, carry it across the room, and place it on the chest-height shelf. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 515 |
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},
|
| 516 |
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"objects": [
|
| 517 |
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{
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{
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{
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{
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|
| 541 |
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{
|
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"name": "Table",
|
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"object_type": "Table",
|
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"source": "mocap",
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}
|
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]
|
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}
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actions/locomanipulation/LM10/session_044/motions/head_rig.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:bff26382253245248c3ece8b0e6c8ef5b7de4d3879c75bd4a7304c11fe41cace
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size 1093731
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actions/locomanipulation/LM10/session_044/motions/markers.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 8461995
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actions/locomanipulation/LM10/session_044/motions/object_markers.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 2303376
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actions/locomanipulation/LM10/session_044/motions/objects.json
ADDED
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@@ -0,0 +1,137 @@
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| 1 |
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{
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| 2 |
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"session": "20261102/LM10/20261102_110019_session180",
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| 3 |
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"generated_at_utc": "2026-11-04T21:17:26.679830+00:00",
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| 4 |
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"generated_by": "scripts/export_objects.py",
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| 5 |
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"frame": "world = canonical Z-up metres (same frame as smplx.npz, markers.npz, cameras/poses.npz)",
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| 6 |
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"grid": "body grid (smplx.npz t / frame_index)",
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| 7 |
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"held_by": "from mocap hands",
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| 8 |
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"instances": [
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| 9 |
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{
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| 10 |
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"name": "BigBox2",
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| 11 |
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"object_type": "BigBox",
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"source": "mocap",
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"pose_frame": "rigid_body",
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"mesh": null,
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"calibration": null,
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"valid_pct": 99.99,
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"verified_pct": 99.99,
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"moving_pct": 0.51,
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"vision_source": null
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| 20 |
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},
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{
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| 22 |
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"name": "LittleBox4",
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"object_type": "LittleBox",
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| 24 |
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"source": "mocap",
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| 25 |
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"pose_frame": "mesh",
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| 26 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 27 |
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"calibration": {
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| 28 |
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"instance": "LittleBox4",
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| 29 |
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"rms_mm": 0.29
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| 30 |
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},
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"valid_pct": 86.62,
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"verified_pct": 86.55,
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"moving_pct": 12.53,
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"vision_source": null
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| 35 |
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},
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{
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| 37 |
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"name": "LittleBox5",
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| 38 |
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"object_type": "LittleBox",
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| 39 |
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"source": "mocap",
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| 40 |
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"pose_frame": "mesh",
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| 41 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 42 |
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"calibration": {
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| 43 |
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"instance": "LittleBox5",
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| 44 |
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"rms_mm": 2.43
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| 45 |
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},
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| 46 |
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"valid_pct": 96.03,
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"verified_pct": 96.0,
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| 48 |
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"moving_pct": 20.9,
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"vision_source": null
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},
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{
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"name": "LittleBox6",
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| 53 |
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"object_type": "LittleBox",
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| 54 |
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"source": "mocap",
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| 55 |
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"pose_frame": "mesh",
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| 56 |
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"mesh": "objects/LittleBox/littlebox.ply",
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| 57 |
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"calibration": {
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| 58 |
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"instance": "LittleBox6",
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| 59 |
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"rms_mm": 1.6
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| 60 |
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},
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| 61 |
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"valid_pct": 98.92,
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| 62 |
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"verified_pct": 98.92,
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| 63 |
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"moving_pct": 19.01,
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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": "Table",
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| 68 |
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"object_type": "Table",
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| 69 |
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"source": "mocap",
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| 70 |
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"pose_frame": "rigid_body",
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| 71 |
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"mesh": null,
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| 72 |
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"calibration": null,
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| 73 |
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"valid_pct": 99.99,
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| 74 |
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"verified_pct": 99.99,
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"moving_pct": 0.0,
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| 76 |
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"vision_source": null
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| 77 |
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}
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],
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"absent": [
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| 80 |
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{
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| 81 |
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"name": "Table2",
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| 82 |
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"object_type": "Table",
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| 83 |
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"valid_s": 0.0
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| 84 |
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}
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],
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| 86 |
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"object_list": {
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| 87 |
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"status": "corrected",
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| 88 |
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"notes": [],
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| 89 |
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"declared": [
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| 90 |
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"BigBox2",
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| 91 |
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"LittleBox4",
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| 92 |
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"LittleBox5",
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| 93 |
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"LittleBox6",
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| 94 |
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"Table0",
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| 95 |
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"Table2"
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| 96 |
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],
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"listed": [
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| 98 |
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{
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| 99 |
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"name": "BigBox2",
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| 100 |
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"object": "BigBox",
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| 101 |
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"source": "mocap",
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| 102 |
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"needs_video_check": false
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| 103 |
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},
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| 104 |
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{
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| 105 |
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"name": "LittleBox4",
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| 106 |
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"object": "LittleBox",
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"source": "mocap",
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| 108 |
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"needs_video_check": false
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| 109 |
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},
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{
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| 111 |
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"name": "LittleBox5",
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| 112 |
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"object": "LittleBox",
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| 113 |
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"source": "mocap",
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| 114 |
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"needs_video_check": false
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| 115 |
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},
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| 116 |
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{
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| 117 |
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"name": "LittleBox6",
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| 118 |
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"object": "LittleBox",
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| 119 |
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"source": "mocap",
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| 120 |
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"needs_video_check": false
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| 121 |
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},
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| 122 |
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{
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| 123 |
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"name": "Table",
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| 124 |
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"object": null,
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| 125 |
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"source": "mocap",
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"needs_video_check": false
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},
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{
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"name": "Table2",
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"object": null,
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"source": "mocap",
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"needs_video_check": false
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| 133 |
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}
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]
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},
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"notes": []
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| 137 |
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}
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actions/locomanipulation/LM10/session_044/motions/objects.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:6731733aed9d078882015bdee4df687846e2782eb653a4760bf379e2179c9585
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| 3 |
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size 2801611
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actions/locomanipulation/LM10/session_044/motions/skeleton.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 8501176
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actions/locomanipulation/LM10/session_044/motions/smplx.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 5658408
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actions/locomanipulation/LM10/session_044/raw/audio.wav
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 23689038
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actions/locomanipulation/LM10/session_044/raw/manifest.json
ADDED
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@@ -0,0 +1,396 @@
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