Release update 2026-11-05: new sessions, instructions, annotations (part 10)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/static_manipulation/SM11/session_006/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM11/session_006/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM11/session_006/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM11/session_006/raw/sensors/robowrist_imu_left.db +3 -0
- actions/static_manipulation/SM11/session_006/raw/sensors/robowrist_imu_right.db +3 -0
- actions/static_manipulation/SM11/session_006/raw/sensors/robowrist_mag_left.db +3 -0
- actions/static_manipulation/SM11/session_006/raw/sensors/robowrist_mag_right.db +3 -0
- actions/static_manipulation/SM11/session_006/sensors/head_imu.npz +3 -0
- actions/static_manipulation/SM11/session_006/sensors/head_mag.npz +3 -0
- actions/static_manipulation/SM11/session_006/sensors/wrist_imu.npz +3 -0
- actions/static_manipulation/SM11/session_006/sensors/wrist_mag.npz +3 -0
- actions/static_manipulation/SM11/session_006/videos/frame_timestamps.npz +3 -0
- actions/static_manipulation/SM11/session_006/videos/head_left.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/head_left_eye.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/head_left_front.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/head_right.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/head_right_eye.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/head_right_front.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/third_person.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/wrist_left.mp4 +3 -0
- actions/static_manipulation/SM11/session_006/videos/wrist_right.mp4 +3 -0
- actions/static_manipulation/SM11/session_007/cameras/poses.npz +3 -0
- actions/static_manipulation/SM11/session_007/meta.json +545 -0
- actions/static_manipulation/SM11/session_007/motions/head_rig.npz +3 -0
- actions/static_manipulation/SM11/session_007/motions/markers.npz +3 -0
- actions/static_manipulation/SM11/session_007/motions/object_markers.npz +3 -0
- actions/static_manipulation/SM11/session_007/motions/objects.json +102 -0
- actions/static_manipulation/SM11/session_007/motions/objects.npz +3 -0
- actions/static_manipulation/SM11/session_007/motions/skeleton.npz +3 -0
- actions/static_manipulation/SM11/session_007/motions/smplx.npz +3 -0
- actions/static_manipulation/SM11/session_007/raw/audio.wav +3 -0
- actions/static_manipulation/SM11/session_007/raw/manifest.json +352 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/Body0.bvh +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/Body0.csv +3 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/Body0.trc +3 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/LittleBox1.csv +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/LittleBox1.trc +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/LittleBox2.csv +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/LittleBox2.trc +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/LittleBox3.csv +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/LittleBox3.trc +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/Table.csv +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/Table.trc +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/Tracker0.csv +0 -0
- actions/static_manipulation/SM11/session_007/raw/mocap/Tracker0.trc +0 -0
- actions/static_manipulation/SM11/session_007/raw/sensors/robocap_imu_left.db +3 -0
- actions/static_manipulation/SM11/session_007/raw/sensors/robocap_imu_right.db +3 -0
- actions/static_manipulation/SM11/session_007/raw/sensors/robocap_mag_middle.db +3 -0
- actions/static_manipulation/SM11/session_007/raw/sensors/robowrist_imu_left.db +3 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261031/SM11/20261031_081505_session46",
|
| 4 |
+
"session_id": "20261031_081505_session46",
|
| 5 |
+
"primitive": "SM11",
|
| 6 |
+
"batch": "20261031",
|
| 7 |
+
"participant": "zhangxinxin",
|
| 8 |
+
"participant_source": "manifest",
|
| 9 |
+
"device_ids": {
|
| 10 |
+
"main": "e3296774a321bb51",
|
| 11 |
+
"left": "39042f5fb5da3b12",
|
| 12 |
+
"right": "65a3481473d6e2a0"
|
| 13 |
+
},
|
| 14 |
+
"generated_at_utc": "2026-11-03T05:53:58.212800+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": 125.95833333333333,
|
| 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": -0.085489,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.085,
|
| 31 |
+
"peak_corr": 0.9929,
|
| 32 |
+
"reference_imu_first_sample_s": 10353.878646361,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 11,
|
| 35 |
+
"window_corr_median": 0.9931049525365478,
|
| 36 |
+
"drift_ppm": -9.164060138973198,
|
| 37 |
+
"drift_se_ppm": 2.7910823349326583,
|
| 38 |
+
"drift_ms_over_take": -1.1542133745036744,
|
| 39 |
+
"lag_scatter_ms": 0.26478531946344425,
|
| 40 |
+
"lag_range_ms": 1.3502143311600046
|
| 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": 25434,
|
| 76 |
+
"n_gyro": 25429,
|
| 77 |
+
"t_start": -0.0970036953629972,
|
| 78 |
+
"t_end": 126.14010820263788
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 25310,
|
| 82 |
+
"n_gyro": 25305,
|
| 83 |
+
"t_start": 0.02150780763726627,
|
| 84 |
+
"t_end": 126.30646990763775
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 25524,
|
| 88 |
+
"n_gyro": 25524,
|
| 89 |
+
"t_start": -0.9233032563632663,
|
| 90 |
+
"t_end": 124.88703160163745
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 25388,
|
| 94 |
+
"n_gyro": 25399,
|
| 95 |
+
"t_start": -0.9116464043625968,
|
| 96 |
+
"t_end": 124.89324071563819
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 12637,
|
| 100 |
+
"t_start": 0.11136457463648523,
|
| 101 |
+
"t_end": 126.47139075963709
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 12580,
|
| 105 |
+
"t_start": -0.9053459043633268,
|
| 106 |
+
"t_end": 124.88504332863808
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 12579,
|
| 110 |
+
"t_start": -0.8934884043618297,
|
| 111 |
+
"t_end": 124.88666571763783
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 10354.001481,
|
| 118 |
+
"frames": 3778,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0025546514432425653,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.03990062307925084,
|
| 124 |
+
"t_end": 125.93983362307985,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 10354.00144,
|
| 131 |
+
"frames": 3778,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.002366886077403108,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.03967185771502384,
|
| 137 |
+
"t_end": 125.93959385771554,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 10354.001465,
|
| 144 |
+
"frames": 3778,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.0026728712083183277,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.040002842845882444,
|
| 150 |
+
"t_end": 125.93993584284648,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
},
|
| 154 |
+
"right_front": {
|
| 155 |
+
"fps": 30.0,
|
| 156 |
+
"start_device_s": 10354.001494,
|
| 157 |
+
"frames": 3778,
|
| 158 |
+
"pts_gaps": 0,
|
| 159 |
+
"timing": "pts",
|
| 160 |
+
"timeshift_cam_imu_s": 0.002595594493655556,
|
| 161 |
+
"file": "robocap_segment1_video_right_front.mp4",
|
| 162 |
+
"t_start": 0.03995456613042163,
|
| 163 |
+
"t_end": 125.9398985661311,
|
| 164 |
+
"clock": "device",
|
| 165 |
+
"calibrated": true
|
| 166 |
+
},
|
| 167 |
+
"left_eye": {
|
| 168 |
+
"fps": 30.0,
|
| 169 |
+
"start_device_s": 10354.001454,
|
| 170 |
+
"frames": 3778,
|
| 171 |
+
"pts_gaps": 0,
|
| 172 |
+
"timing": "pts",
|
| 173 |
+
"timeshift_cam_imu_s": 0.002394386090989767,
|
| 174 |
+
"file": "robocap_segment1_video_left_eye.mp4",
|
| 175 |
+
"t_start": 0.03971335772725408,
|
| 176 |
+
"t_end": 125.93964635772785,
|
| 177 |
+
"clock": "device",
|
| 178 |
+
"calibrated": true
|
| 179 |
+
},
|
| 180 |
+
"right_eye": {
|
| 181 |
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"fps": 30.0,
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actions/static_manipulation/SM11/session_007/motions/objects.json
ADDED
|
@@ -0,0 +1,102 @@
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|
| 1 |
+
{
|
| 2 |
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"session": "20261031/SM11/20261031_081505_session46",
|
| 3 |
+
"generated_at_utc": "2026-11-04T21:13:44.011527+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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| 13 |
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"pose_frame": "rigid_body",
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| 14 |
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"mesh": null,
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| 15 |
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"calibration": null,
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| 16 |
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"valid_pct": 97.27,
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| 17 |
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"verified_pct": 97.24,
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| 18 |
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"moving_pct": 9.46,
|
| 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": 0.57
|
| 30 |
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},
|
| 31 |
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"valid_pct": 96.5,
|
| 32 |
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"verified_pct": 96.47,
|
| 33 |
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"moving_pct": 10.35,
|
| 34 |
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"vision_source": null
|
| 35 |
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},
|
| 36 |
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{
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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",
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| 44 |
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"rms_mm": 0.51
|
| 45 |
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},
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| 46 |
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"valid_pct": 96.57,
|
| 47 |
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"verified_pct": 96.54,
|
| 48 |
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"moving_pct": 10.13,
|
| 49 |
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"vision_source": null
|
| 50 |
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},
|
| 51 |
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{
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| 52 |
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"name": "Table",
|
| 53 |
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"object_type": "Table",
|
| 54 |
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"source": "mocap",
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| 55 |
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"pose_frame": "rigid_body",
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| 56 |
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"mesh": null,
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| 57 |
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"calibration": null,
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| 60 |
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"moving_pct": 0.0,
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| 62 |
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}
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| 63 |
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],
|
| 64 |
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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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"LittleBox3",
|
| 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": "LittleBox3",
|
| 89 |
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"object": "LittleBox",
|
| 90 |
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"source": "mocap",
|
| 91 |
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"needs_video_check": false
|
| 92 |
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},
|
| 93 |
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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",
|
| 97 |
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"needs_video_check": false
|
| 98 |
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}
|
| 99 |
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]
|
| 100 |
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},
|
| 101 |
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"notes": []
|
| 102 |
+
}
|
actions/static_manipulation/SM11/session_007/motions/objects.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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| 3 |
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size 2260896
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actions/static_manipulation/SM11/session_007/motions/skeleton.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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|
| 1 |
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{
|
| 2 |
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"schema_version": 1,
|
| 3 |
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"created_at_utc": "2026-10-31T13:58:15.844936+00:00",
|
| 4 |
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"primitive_id": "SM11",
|
| 5 |
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"session_id": "20261031_081505_session46",
|
| 6 |
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"upload_batch_id": "20261031",
|
| 7 |
+
"dataset_path": "EgoMotionActions/20261031/SM11/20261031_081505_session46",
|
| 8 |
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"segment": "auto/all",
|
| 9 |
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"duration_s": 125.899933,
|
| 10 |
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"device_ids": {
|
| 11 |
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"main": "e3296774a321bb51",
|
| 12 |
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"left": "39042f5fb5da3b12",
|
| 13 |
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"right": "65a3481473d6e2a0"
|
| 14 |
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},
|
| 15 |
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"mocap_rigid_names": [
|
| 16 |
+
"Body0",
|
| 17 |
+
"LittleBox1",
|
| 18 |
+
"LittleBox2",
|
| 19 |
+
"LittleBox3",
|
| 20 |
+
"Table",
|
| 21 |
+
"Tracker0"
|
| 22 |
+
],
|
| 23 |
+
"objects": [
|
| 24 |
+
"LittleBox1",
|
| 25 |
+
"LittleBox2",
|
| 26 |
+
"LittleBox3",
|
| 27 |
+
"Table0"
|
| 28 |
+
],
|
| 29 |
+
"options": {
|
| 30 |
+
"raw_video": true,
|
| 31 |
+
"proxy_height": 540,
|
| 32 |
+
"proxy_crf": 28,
|
| 33 |
+
"proxy_bitrate": "1400k",
|
| 34 |
+
"mocap_selection": "explicit",
|
| 35 |
+
"mocap_files": [
|
| 36 |
+
"mocap-SM11-S01-zhangxinxin-02p01/mocap-SM11-S01-zhangxinxin-02p01-1.mp4",
|
| 37 |
+
"mocap-SM11-S01-zhangxinxin-02p01/mocap-SM11-S01-zhangxinxin-02p01-Body0.bvh",
|
| 38 |
+
"mocap-SM11-S01-zhangxinxin-02p01/mocap-SM11-S01-zhangxinxin-02p01-Body0.csv",
|
| 39 |
+
"mocap-SM11-S01-zhangxinxin-02p01/mocap-SM11-S01-zhangxinxin-02p01-Body0.trc",
|
| 40 |
+
"mocap-SM11-S01-zhangxinxin-02p01/mocap-SM11-S01-zhangxinxin-02p01-LittleBox1.csv",
|
| 41 |
+
"mocap-SM11-S01-zhangxinxin-02p01/mocap-SM11-S01-zhangxinxin-02p01-LittleBox1.trc",
|
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