Release update 2026-11-05: new sessions, instructions, annotations (part 79)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +11 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox1.csv +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox1.trc +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox2.csv +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox2.trc +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox3.csv +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox3.trc +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/LittleBox4.trc +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/Table.csv +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/Table.trc +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH02/session_013/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH02/session_013/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH02/session_013/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH02/session_013/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH02/session_013/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH02/session_013/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_013/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH02/session_014/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH02/session_014/meta.json +566 -0
- actions/long_horizon_composite/LH02/session_014/motions/head_rig.npz +3 -0
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- actions/long_horizon_composite/LH02/session_014/motions/object_markers.npz +3 -0
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- actions/long_horizon_composite/LH02/session_014/motions/skeleton.npz +3 -0
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- actions/long_horizon_composite/LH02/session_014/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH02/session_014/raw/mocap/Body0.trc +3 -0
.gitattributes
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actions/long_horizon_composite/LH02/session_014/meta.json
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| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LH02/20261028_082759_session100",
|
| 4 |
+
"session_id": "20261028_082759_session100",
|
| 5 |
+
"primitive": "LH02",
|
| 6 |
+
"batch": "20261028",
|
| 7 |
+
"participant": "yanyitong",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "c9205ac6e17d2d5c",
|
| 11 |
+
"left": "452031d7af00ef6f",
|
| 12 |
+
"right": "60a6f081bbe60b0d"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-10-30T07:15:45.912495+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": 145.15833333333333,
|
| 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": -0.088349,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.09,
|
| 31 |
+
"peak_corr": 0.991,
|
| 32 |
+
"reference_imu_first_sample_s": 24280.709611794,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 13,
|
| 35 |
+
"window_corr_median": 0.9924663630101868,
|
| 36 |
+
"drift_ppm": -208.19682205954123,
|
| 37 |
+
"drift_se_ppm": 123.91472661702065,
|
| 38 |
+
"drift_ms_over_take": -30.219768721942412,
|
| 39 |
+
"lag_scatter_ms": 15.377413172494029,
|
| 40 |
+
"lag_range_ms": 65.51224782535763
|
| 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": 29531,
|
| 76 |
+
"n_gyro": 29525,
|
| 77 |
+
"t_start": -0.09977053246782527,
|
| 78 |
+
"t_end": 145.368437057534
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 29348,
|
| 82 |
+
"n_gyro": 29342,
|
| 83 |
+
"t_start": 0.007904050531781809,
|
| 84 |
+
"t_end": 145.53041747453446
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 29261,
|
| 88 |
+
"n_gyro": 29274,
|
| 89 |
+
"t_start": -0.8331866214664632,
|
| 90 |
+
"t_end": 143.7821190265333
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 29285,
|
| 94 |
+
"n_gyro": 29285,
|
| 95 |
+
"t_start": -0.8451009234684324,
|
| 96 |
+
"t_end": 143.79658019353357
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 14561,
|
| 100 |
+
"t_start": 0.09112209253200779,
|
| 101 |
+
"t_end": 145.691115703534
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 14461,
|
| 105 |
+
"t_start": -0.8265514574684647,
|
| 106 |
+
"t_end": 143.773837334533
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 14463,
|
| 110 |
+
"t_start": -0.8271538974675212,
|
| 111 |
+
"t_end": 143.79259124353322
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 24280.835197,
|
| 118 |
+
"frames": 4354,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.039864993179638236,
|
| 124 |
+
"t_end": 145.1399649931793,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 24280.835181,
|
| 131 |
+
"frames": 4354,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
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"RWristIn"
|
| 516 |
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"frames_used": 1500
|
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},
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| 520 |
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"generated_at_utc": "2026-11-02T14:58:09.075860+00:00",
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| 521 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 522 |
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}
|
| 523 |
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},
|
| 524 |
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"release": {
|
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"release_path": "actions/long_horizon_composite/LH02/session_014",
|
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"family": "long_horizon_composite",
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"source_session": "20261028/LH02/20261028_082759_session100"
|
| 529 |
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},
|
| 530 |
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"task": {
|
| 531 |
+
"primitive": "LH02",
|
| 532 |
+
"instruction": "1. Read the list the operator gives you. 2. Collect the six items on the list from the shelves. 3. Put them all in the bin on the table. 4. Tell the operator when you are finished."
|
| 533 |
+
},
|
| 534 |
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"objects": [
|
| 535 |
+
{
|
| 536 |
+
"name": "LittleBox1",
|
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"object_type": "LittleBox",
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"source": "mocap",
|
| 539 |
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"pose_frame": "rigid_body"
|
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|
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{
|
| 542 |
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"name": "LittleBox2",
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"object_type": "LittleBox",
|
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"source": "mocap",
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| 545 |
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"pose_frame": "mesh"
|
| 546 |
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},
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| 547 |
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{
|
| 548 |
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"name": "LittleBox3",
|
| 549 |
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"object_type": "LittleBox",
|
| 550 |
+
"source": "mocap",
|
| 551 |
+
"pose_frame": "mesh"
|
| 552 |
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},
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| 553 |
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{
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| 554 |
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"name": "LittleBox4",
|
| 555 |
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"object_type": "LittleBox",
|
| 556 |
+
"source": "mocap",
|
| 557 |
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"pose_frame": "mesh"
|
| 558 |
+
},
|
| 559 |
+
{
|
| 560 |
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"name": "Table",
|
| 561 |
+
"object_type": "Table",
|
| 562 |
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"source": "mocap",
|
| 563 |
+
"pose_frame": "rigid_body"
|
| 564 |
+
}
|
| 565 |
+
]
|
| 566 |
+
}
|
actions/long_horizon_composite/LH02/session_014/motions/head_rig.npz
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|
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size 1289871
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actions/long_horizon_composite/LH02/session_014/motions/markers.npz
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|
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actions/long_horizon_composite/LH02/session_014/motions/object_markers.npz
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|
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size 1907821
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actions/long_horizon_composite/LH02/session_014/motions/objects.json
ADDED
|
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{
|
| 2 |
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"session": "20261028/LH02/20261028_082759_session100",
|
| 3 |
+
"generated_at_utc": "2026-11-04T20:05:53.924865+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 |
+
"grid": "body grid (smplx.npz t / frame_index)",
|
| 7 |
+
"held_by": "from mocap hands",
|
| 8 |
+
"instances": [
|
| 9 |
+
{
|
| 10 |
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"name": "LittleBox1",
|
| 11 |
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"object_type": "LittleBox",
|
| 12 |
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"source": "mocap",
|
| 13 |
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"pose_frame": "rigid_body",
|
| 14 |
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"mesh": null,
|
| 15 |
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"calibration": null,
|
| 16 |
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"valid_pct": 28.58,
|
| 17 |
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"verified_pct": 28.55,
|
| 18 |
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"moving_pct": 5.31,
|
| 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": 0.77
|
| 30 |
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},
|
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"valid_pct": 31.8,
|
| 32 |
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"verified_pct": 31.78,
|
| 33 |
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"moving_pct": 7.1,
|
| 34 |
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"vision_source": null
|
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},
|
| 36 |
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{
|
| 37 |
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"name": "LittleBox3",
|
| 38 |
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"object_type": "LittleBox",
|
| 39 |
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"source": "mocap",
|
| 40 |
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"pose_frame": "mesh",
|
| 41 |
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"mesh": "objects/LittleBox/littlebox.ply",
|
| 42 |
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"calibration": {
|
| 43 |
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"instance": "LittleBox3",
|
| 44 |
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"rms_mm": 0.54
|
| 45 |
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},
|
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"valid_pct": 93.81,
|
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"verified_pct": 93.8,
|
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|
| 49 |
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"vision_source": null
|
| 50 |
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},
|
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{
|
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"name": "LittleBox4",
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"object_type": "LittleBox",
|
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"source": "mocap",
|
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"pose_frame": "mesh",
|
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"mesh": "objects/LittleBox/littlebox.ply",
|
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"calibration": {
|
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"instance": "LittleBox4",
|
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"rms_mm": 0.31
|
| 60 |
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},
|
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"valid_pct": 66.88,
|
| 62 |
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"verified_pct": 66.87,
|
| 63 |
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"moving_pct": 7.8,
|
| 64 |
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"vision_source": null
|
| 65 |
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},
|
| 66 |
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{
|
| 67 |
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"name": "Table",
|
| 68 |
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"object_type": "Table",
|
| 69 |
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"source": "mocap",
|
| 70 |
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"pose_frame": "rigid_body",
|
| 71 |
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"mesh": null,
|
| 72 |
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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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|
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"vision_source": null
|
| 77 |
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}
|
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],
|
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"absent": [],
|
| 80 |
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"object_list": {
|
| 81 |
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"status": "corrected",
|
| 82 |
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"notes": [],
|
| 83 |
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"declared": [
|
| 84 |
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"LittleBox1",
|
| 85 |
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"LittleBox2",
|
| 86 |
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"LittleBox3",
|
| 87 |
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"LittleBox4",
|
| 88 |
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"Table0"
|
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],
|
| 90 |
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"listed": [
|
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{
|
| 92 |
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"name": "LittleBox1",
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|
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|
| 96 |
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},
|
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{
|
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"name": "LittleBox2",
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"object": "LittleBox",
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"source": "mocap",
|
| 101 |
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"needs_video_check": false
|
| 102 |
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},
|
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{
|
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"name": "LittleBox3",
|
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"object": "LittleBox",
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"source": "mocap",
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|
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},
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{
|
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"name": "LittleBox4",
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"object": "LittleBox",
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"source": "mocap",
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},
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{
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| 116 |
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"name": "Table",
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|
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"source": "mocap",
|
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|
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}
|
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]
|
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},
|
| 123 |
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"notes": []
|
| 124 |
+
}
|
actions/long_horizon_composite/LH02/session_014/motions/objects.npz
ADDED
|
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size 2238076
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actions/long_horizon_composite/LH02/session_014/motions/skeleton.npz
ADDED
|
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