Release update 2026-11-05: new sessions, instructions, annotations (part 111)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +20 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/LittleBox1.csv +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/LittleBox1.trc +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/LittleBox2.csv +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/LittleBox2.trc +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/LittleBox5.csv +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/LittleBox5.trc +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH08/session_022/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH08/session_022/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH08/session_022/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH08/session_022/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH08/session_022/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH08/session_022/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_022/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH08/session_023/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH08/session_023/meta.json +549 -0
- actions/long_horizon_composite/LH08/session_023/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH08/session_023/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH08/session_023/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH08/session_023/motions/objects.json +102 -0
- actions/long_horizon_composite/LH08/session_023/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH08/session_023/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH08/session_023/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH08/session_023/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH08/session_023/raw/manifest.json +352 -0
- actions/long_horizon_composite/LH08/session_023/raw/mocap/Body0.bvh +0 -0
- actions/long_horizon_composite/LH08/session_023/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH08/session_023/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH08/session_023/raw/mocap/LittleBox1.csv +0 -0
- actions/long_horizon_composite/LH08/session_023/raw/mocap/LittleBox1.trc +0 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261029/LH08/20261029_091448_session118",
|
| 4 |
+
"session_id": "20261029_091448_session118",
|
| 5 |
+
"primitive": "LH08",
|
| 6 |
+
"batch": "20261029",
|
| 7 |
+
"participant": "wangjingjing",
|
| 8 |
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"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
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"main": "c9205ac6e17d2d5c",
|
| 11 |
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"left": "452031d7af00ef6f",
|
| 12 |
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"right": "60a6f081bbe60b0d"
|
| 13 |
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},
|
| 14 |
+
"generated_at_utc": "2026-10-30T22:22:06.499979+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": 128.925,
|
| 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": -0.082666,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9787,
|
| 32 |
+
"reference_imu_first_sample_s": 31305.549338229,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9727653941868134,
|
| 36 |
+
"drift_ppm": -11.021224756383642,
|
| 37 |
+
"drift_se_ppm": 7.7827778961467935,
|
| 38 |
+
"drift_ms_over_take": -1.4208195581771244,
|
| 39 |
+
"lag_scatter_ms": 0.7383391402511181,
|
| 40 |
+
"lag_range_ms": 2.6063327934294502
|
| 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 |
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],
|
| 51 |
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[
|
| 52 |
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0.0,
|
| 53 |
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0.0,
|
| 54 |
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-1.0
|
| 55 |
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],
|
| 56 |
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[
|
| 57 |
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0.0,
|
| 58 |
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1.0,
|
| 59 |
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0.0
|
| 60 |
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]
|
| 61 |
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],
|
| 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 |
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"status": "ok",
|
| 70 |
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"date": "2026-10-21"
|
| 71 |
+
},
|
| 72 |
+
"streams": {
|
| 73 |
+
"sensors": {
|
| 74 |
+
"imu_head_right": {
|
| 75 |
+
"n_acc": 26234,
|
| 76 |
+
"n_gyro": 26229,
|
| 77 |
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"t_start": -0.08956374865770365,
|
| 78 |
+
"t_end": 129.13151897433968
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 26073,
|
| 82 |
+
"n_gyro": 26068,
|
| 83 |
+
"t_start": 0.025539892339700346,
|
| 84 |
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"t_end": 129.3018270213394
|
| 85 |
+
},
|
| 86 |
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"imu_wrist_right": {
|
| 87 |
+
"n_acc": 26021,
|
| 88 |
+
"n_gyro": 26020,
|
| 89 |
+
"t_start": -0.8303268566599875,
|
| 90 |
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"t_end": 127.74076483934154
|
| 91 |
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},
|
| 92 |
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"imu_wrist_left": {
|
| 93 |
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"n_acc": 26055,
|
| 94 |
+
"n_gyro": 26055,
|
| 95 |
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"t_start": -0.9020655536590787,
|
| 96 |
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"t_end": 127.75329884734278
|
| 97 |
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},
|
| 98 |
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"mag_head": {
|
| 99 |
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"n": 12936,
|
| 100 |
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"t_start": 0.11793083434135744,
|
| 101 |
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"t_end": 129.46790060434037
|
| 102 |
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},
|
| 103 |
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"mag_wrist_right": {
|
| 104 |
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"n": 12856,
|
| 105 |
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"t_start": -0.8126933616589234,
|
| 106 |
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"t_end": 127.73685006633936
|
| 107 |
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},
|
| 108 |
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"mag_wrist_left": {
|
| 109 |
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"n": 12865,
|
| 110 |
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"t_start": -0.8941591736587291,
|
| 111 |
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"t_end": 127.74533984434278
|
| 112 |
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}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
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"left": {
|
| 116 |
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"fps": 30.0,
|
| 117 |
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"start_device_s": 31305.669804,
|
| 118 |
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"frames": 3867,
|
| 119 |
+
"pts_gaps": 0,
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2.9
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},
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"wrist_total_deg_median_after": 55.9,
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"markers_on_forearm": [
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"RElbowIn"
|
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]
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},
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"frames_used": 1500
|
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},
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"generated_at_utc": "2026-11-02T17:12:09.853164+00:00",
|
| 510 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
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}
|
| 512 |
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},
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| 513 |
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"release": {
|
| 514 |
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"release_path": "actions/long_horizon_composite/LH08/session_023",
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"family": "long_horizon_composite",
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"primitive": "LH08",
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| 517 |
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"source_session": "20261029/LH08/20261029_091448_session118"
|
| 518 |
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},
|
| 519 |
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"task": {
|
| 520 |
+
"primitive": "LH08",
|
| 521 |
+
"instruction": "1. Read the parts list. 2. Collect each part from the bins around the room. 3. Lay them out on the table in the order on the list. 4. Put them all in the carry case. 5. Tell the operator when you are finished."
|
| 522 |
+
},
|
| 523 |
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"objects": [
|
| 524 |
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{
|
| 525 |
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"name": "LittleBox1",
|
| 526 |
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"object_type": "LittleBox",
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"source": "mocap",
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| 528 |
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"pose_frame": "rigid_body"
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},
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| 530 |
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{
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"name": "LittleBox2",
|
| 532 |
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"object_type": "LittleBox",
|
| 533 |
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"source": "mocap",
|
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"pose_frame": "mesh"
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},
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{
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"name": "LittleBox5",
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"object_type": "LittleBox",
|
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"source": "mocap",
|
| 540 |
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"pose_frame": "mesh"
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},
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{
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"name": "Table",
|
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"object_type": "Table",
|
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"source": "mocap",
|
| 546 |
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"pose_frame": "rigid_body"
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}
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]
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}
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actions/long_horizon_composite/LH08/session_023/motions/head_rig.npz
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actions/long_horizon_composite/LH08/session_023/motions/markers.npz
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actions/long_horizon_composite/LH08/session_023/motions/objects.json
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{
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"session": "20261029/LH08/20261029_091448_session118",
|
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"generated_at_utc": "2026-11-04T20:26:13.280252+00:00",
|
| 4 |
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"generated_by": "scripts/export_objects.py",
|
| 5 |
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"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": "LittleBox1",
|
| 11 |
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"object_type": "LittleBox",
|
| 12 |
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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": 94.89,
|
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"verified_pct": 94.87,
|
| 18 |
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"moving_pct": 2.57,
|
| 19 |
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"vision_source": null
|
| 20 |
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},
|
| 21 |
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{
|
| 22 |
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"name": "LittleBox2",
|
| 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": "LittleBox2",
|
| 29 |
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"rms_mm": 0.6
|
| 30 |
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},
|
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"valid_pct": 94.41,
|
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"verified_pct": 94.4,
|
| 33 |
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"moving_pct": 2.29,
|
| 34 |
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"vision_source": null
|
| 35 |
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},
|
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{
|
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"name": "LittleBox5",
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| 38 |
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"object_type": "LittleBox",
|
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"source": "mocap",
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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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"calibration": {
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"instance": "LittleBox5",
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"rms_mm": 2.31
|
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},
|
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"valid_pct": 99.99,
|
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|
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|
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"vision_source": null
|
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},
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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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"pose_frame": "rigid_body",
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"mesh": null,
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|
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|
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"verified_pct": 99.99,
|
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|
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"vision_source": null
|
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}
|
| 63 |
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],
|
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"absent": [],
|
| 65 |
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"object_list": {
|
| 66 |
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"status": "corrected",
|
| 67 |
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"notes": [],
|
| 68 |
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"declared": [
|
| 69 |
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"LittleBox1",
|
| 70 |
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"LittleBox2",
|
| 71 |
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"LittleBox5",
|
| 72 |
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"Table0"
|
| 73 |
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],
|
| 74 |
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"listed": [
|
| 75 |
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{
|
| 76 |
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"name": "LittleBox1",
|
| 77 |
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"object": "LittleBox",
|
| 78 |
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"source": "mocap",
|
| 79 |
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"needs_video_check": false
|
| 80 |
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},
|
| 81 |
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{
|
| 82 |
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"name": "LittleBox2",
|
| 83 |
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"object": "LittleBox",
|
| 84 |
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"source": "mocap",
|
| 85 |
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"needs_video_check": false
|
| 86 |
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},
|
| 87 |
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{
|
| 88 |
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"name": "LittleBox5",
|
| 89 |
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"object": "LittleBox",
|
| 90 |
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"source": "mocap",
|
| 91 |
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|
| 92 |
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},
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{
|
| 94 |
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"name": "Table",
|
| 95 |
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"object": null,
|
| 96 |
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"source": "mocap",
|
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|
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}
|
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]
|
| 100 |
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},
|
| 101 |
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"notes": []
|
| 102 |
+
}
|
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|
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