Release update 2026-11-05: new sessions, instructions, annotations (part 72)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +19 -0
- actions/long_horizon_composite/LH01/session_009/raw/mocap/OpenBox.csv +0 -0
- actions/long_horizon_composite/LH01/session_009/raw/mocap/OpenBox.trc +0 -0
- actions/long_horizon_composite/LH01/session_009/raw/mocap/Table2.csv +0 -0
- actions/long_horizon_composite/LH01/session_009/raw/mocap/Table2.trc +0 -0
- actions/long_horizon_composite/LH01/session_009/raw/mocap/Tracker0.csv +0 -0
- actions/long_horizon_composite/LH01/session_009/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH01/session_009/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH01/session_009/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH01/session_009/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH01/session_009/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH01/session_009/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH01/session_009/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH01/session_009/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH01/session_009/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH01/session_009/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH01/session_009/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH01/session_009/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_009/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH01/session_010/cameras/poses.npz +3 -0
- actions/long_horizon_composite/LH01/session_010/meta.json +544 -0
- actions/long_horizon_composite/LH01/session_010/motions/head_rig.npz +3 -0
- actions/long_horizon_composite/LH01/session_010/motions/markers.npz +3 -0
- actions/long_horizon_composite/LH01/session_010/motions/object_markers.npz +3 -0
- actions/long_horizon_composite/LH01/session_010/motions/objects.json +124 -0
- actions/long_horizon_composite/LH01/session_010/motions/objects.npz +3 -0
- actions/long_horizon_composite/LH01/session_010/motions/skeleton.npz +3 -0
- actions/long_horizon_composite/LH01/session_010/motions/smplx.npz +3 -0
- actions/long_horizon_composite/LH01/session_010/raw/audio.wav +3 -0
- actions/long_horizon_composite/LH01/session_010/raw/manifest.json +374 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/Body0.bvh +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/Body0.csv +3 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/Body0.trc +3 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox1.csv +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox1.trc +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox2.csv +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox2.trc +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox3.csv +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox3.trc +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox4.csv +0 -0
- actions/long_horizon_composite/LH01/session_010/raw/mocap/LittleBox4.trc +0 -0
.gitattributes
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|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"session": "EgoMotionActions/20261028/LH01/20261028_083337_session101",
|
| 4 |
+
"session_id": "20261028_083337_session101",
|
| 5 |
+
"primitive": "LH01",
|
| 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": "2026-10-30T07:14:39.611277+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": 114.825,
|
| 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": -0.08135,
|
| 29 |
+
"rate": 0.0,
|
| 30 |
+
"global_lag_s": -0.08,
|
| 31 |
+
"peak_corr": 0.9775,
|
| 32 |
+
"reference_imu_first_sample_s": 24618.818876586,
|
| 33 |
+
"windows": {
|
| 34 |
+
"n_windows": 10,
|
| 35 |
+
"window_corr_median": 0.9730622613646741,
|
| 36 |
+
"drift_ppm": -16.11352903091475,
|
| 37 |
+
"drift_se_ppm": 10.784204977772534,
|
| 38 |
+
"drift_ms_over_take": -1.8501016915661952,
|
| 39 |
+
"lag_scatter_ms": 0.8761129540289035,
|
| 40 |
+
"lag_range_ms": 3.0563167058577645
|
| 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": 23371,
|
| 76 |
+
"n_gyro": 23364,
|
| 77 |
+
"t_start": -0.09771994828354653,
|
| 78 |
+
"t_end": 115.02089400871462
|
| 79 |
+
},
|
| 80 |
+
"imu_head_left": {
|
| 81 |
+
"n_acc": 23228,
|
| 82 |
+
"n_gyro": 23222,
|
| 83 |
+
"t_start": 0.010186301715813181,
|
| 84 |
+
"t_end": 115.18121169571585
|
| 85 |
+
},
|
| 86 |
+
"imu_wrist_right": {
|
| 87 |
+
"n_acc": 23253,
|
| 88 |
+
"n_gyro": 23253,
|
| 89 |
+
"t_start": -0.9153525302821698,
|
| 90 |
+
"t_end": 113.99821887471678
|
| 91 |
+
},
|
| 92 |
+
"imu_wrist_left": {
|
| 93 |
+
"n_acc": 23276,
|
| 94 |
+
"n_gyro": 23275,
|
| 95 |
+
"t_start": -0.9465808052840919,
|
| 96 |
+
"t_end": 114.00761066271714
|
| 97 |
+
},
|
| 98 |
+
"mag_head": {
|
| 99 |
+
"n": 11525,
|
| 100 |
+
"t_start": 0.10498313471595903,
|
| 101 |
+
"t_end": 115.34496306471608
|
| 102 |
+
},
|
| 103 |
+
"mag_wrist_right": {
|
| 104 |
+
"n": 11490,
|
| 105 |
+
"t_start": -0.8977635222831203,
|
| 106 |
+
"t_end": 113.99202525371636
|
| 107 |
+
},
|
| 108 |
+
"mag_wrist_left": {
|
| 109 |
+
"n": 11494,
|
| 110 |
+
"t_start": -0.9288398082821266,
|
| 111 |
+
"t_end": 114.00069632471475
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"videos": {
|
| 115 |
+
"left": {
|
| 116 |
+
"fps": 30.0,
|
| 117 |
+
"start_device_s": 24618.937779,
|
| 118 |
+
"frames": 3444,
|
| 119 |
+
"pts_gaps": 0,
|
| 120 |
+
"timing": "pts",
|
| 121 |
+
"timeshift_cam_imu_s": 0.0026284356473863946,
|
| 122 |
+
"file": "robocap_segment1_video_left.mp4",
|
| 123 |
+
"t_start": 0.040181249362441315,
|
| 124 |
+
"t_end": 114.80687024936249,
|
| 125 |
+
"clock": "device",
|
| 126 |
+
"calibrated": true
|
| 127 |
+
},
|
| 128 |
+
"right": {
|
| 129 |
+
"fps": 30.0,
|
| 130 |
+
"start_device_s": 24618.937751,
|
| 131 |
+
"frames": 3444,
|
| 132 |
+
"pts_gaps": 0,
|
| 133 |
+
"timing": "pts",
|
| 134 |
+
"timeshift_cam_imu_s": 0.0024181146161434135,
|
| 135 |
+
"file": "robocap_segment1_video_right.mp4",
|
| 136 |
+
"t_start": 0.039942928332103486,
|
| 137 |
+
"t_end": 114.80662092833207,
|
| 138 |
+
"clock": "device",
|
| 139 |
+
"calibrated": true
|
| 140 |
+
},
|
| 141 |
+
"left_front": {
|
| 142 |
+
"fps": 30.0,
|
| 143 |
+
"start_device_s": 24618.937771,
|
| 144 |
+
"frames": 3444,
|
| 145 |
+
"pts_gaps": 0,
|
| 146 |
+
"timing": "pts",
|
| 147 |
+
"timeshift_cam_imu_s": 0.002458947067077895,
|
| 148 |
+
"file": "robocap_segment1_video_left_front.mp4",
|
| 149 |
+
"t_start": 0.040003760783812334,
|
| 150 |
+
"t_end": 114.80669276078386,
|
| 151 |
+
"clock": "device",
|
| 152 |
+
"calibrated": true
|
| 153 |
+
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},
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"tracker0_zup.npz",
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| 342 |
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"rig_zup.npz",
|
| 343 |
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"cameras_zup.npz"
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]
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},
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"file": "smplx.npz",
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"gender": "female",
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|
| 354 |
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"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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| 355 |
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| 356 |
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"observed": false,
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"hand_pose": "flat (zeros, flat_hand_mean=True)",
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|
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|
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},
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| 395 |
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|
| 396 |
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"LElbowIn 20mm",
|
| 397 |
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"CLAV 19mm",
|
| 398 |
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"RShin 19mm",
|
| 399 |
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"LKnee 18mm",
|
| 400 |
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"STRN 17mm"
|
| 401 |
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],
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|
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|
| 407 |
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},
|
| 408 |
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|
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},
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"weight": 1.0,
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|
| 414 |
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|
| 415 |
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|
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},
|
| 417 |
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"shape_source": "participant median",
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| 418 |
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| 419 |
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"left": {
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"status": "corrected",
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0.53713,
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|
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],
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},
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],
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|
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|
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4.5
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]
|
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},
|
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]
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},
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0.686,
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],
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|
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|
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|
| 470 |
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|
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|
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|
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|
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},
|
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|
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],
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|
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5.0
|
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]
|
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},
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|
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"RElbow",
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|
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"RWristIn"
|
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]
|
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},
|
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|
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},
|
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"generated_at_utc": "2026-11-02T14:52:29.786803+00:00",
|
| 499 |
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"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 500 |
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}
|
| 501 |
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},
|
| 502 |
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"release": {
|
| 503 |
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"release_path": "actions/long_horizon_composite/LH01/session_010",
|
| 504 |
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"family": "long_horizon_composite",
|
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"primitive": "LH01",
|
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"source_session": "20261028/LH01/20261028_083337_session101"
|
| 507 |
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},
|
| 508 |
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"task": {
|
| 509 |
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"primitive": "LH01",
|
| 510 |
+
"instruction": "1. Take everything out of the crates by the door. 2. Put the small items on the middle shelf. 3. Put the large items on the bottom shelf. 4. Stack the empty crates by the door. 5. Tell the operator when you are finished."
|
| 511 |
+
},
|
| 512 |
+
"objects": [
|
| 513 |
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{
|
| 514 |
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"name": "LittleBox1",
|
| 515 |
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"object_type": "LittleBox",
|
| 516 |
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"source": "mocap",
|
| 517 |
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"pose_frame": "rigid_body"
|
| 518 |
+
},
|
| 519 |
+
{
|
| 520 |
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"name": "LittleBox2",
|
| 521 |
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"object_type": "LittleBox",
|
| 522 |
+
"source": "mocap",
|
| 523 |
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"pose_frame": "mesh"
|
| 524 |
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},
|
| 525 |
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{
|
| 526 |
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"name": "LittleBox3",
|
| 527 |
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"object_type": "LittleBox",
|
| 528 |
+
"source": "mocap",
|
| 529 |
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"pose_frame": "mesh"
|
| 530 |
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},
|
| 531 |
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{
|
| 532 |
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"name": "LittleBox4",
|
| 533 |
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"object_type": "LittleBox",
|
| 534 |
+
"source": "mocap",
|
| 535 |
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