Release update 2026-11-05: new sessions, instructions, annotations (part 141)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +27 -0
- actions/locomanipulation/LM72/session_010/raw/mocap/LittleBox3.trc +0 -0
- actions/locomanipulation/LM72/session_010/raw/mocap/Table.csv +0 -0
- actions/locomanipulation/LM72/session_010/raw/mocap/Table.trc +0 -0
- actions/locomanipulation/LM72/session_010/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM72/session_010/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM72/session_010/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM72/session_010/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM72/session_010/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM72/session_010/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM72/session_010/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM72/session_010/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM72/session_010/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM72/session_010/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM72/session_010/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM72/session_010/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM72/session_010/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM72/session_010/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM72/session_010/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM72/session_010/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM73/session_001/annotations.json +28 -0
- actions/locomanipulation/LM73/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM73/session_001/meta.json +116 -2
- actions/locomanipulation/LM73/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM73/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM73/session_002/annotations.json +28 -0
- actions/locomanipulation/LM73/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM73/session_002/meta.json +116 -2
- actions/locomanipulation/LM73/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM73/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM73/session_003/annotations.json +28 -0
- actions/locomanipulation/LM73/session_003/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM73/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM73/session_003/meta.json +116 -2
- actions/locomanipulation/LM73/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM73/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM73/session_004/annotations.json +28 -0
- actions/locomanipulation/LM73/session_004/cameras/gsi_online_calibration.json +259 -0
- actions/locomanipulation/LM73/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM73/session_004/meta.json +116 -2
- actions/locomanipulation/LM73/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM73/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM73/session_005/annotations.json +28 -0
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM73",
|
| 6 |
+
"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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"video": "left_eye",
|
| 12 |
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|
| 13 |
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}
|
| 14 |
+
],
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| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "76319ace-63b1-45c9-acaa-53093fe61ed3",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM73",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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"end_s": 110.057,
|
| 23 |
+
"t_start": -0.0283,
|
| 24 |
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"t_end": 110.0287,
|
| 25 |
+
"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM73/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ba3718bd26409bd20102a09845b695522a5445c078c6a4bceeffa1d122706525
|
| 3 |
+
size 657491
|
actions/locomanipulation/LM73/session_001/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -507,10 +507,124 @@
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 0.913278677005078
|
| 509 |
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|
| 510 |
"release": {
|
| 511 |
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|
| 512 |
"family": "locomanipulation",
|
| 513 |
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|
| 514 |
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|
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|
| 515 |
}
|
| 516 |
}
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|
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|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
+
"observed": true,
|
| 330 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
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|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
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|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
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|
| 512 |
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|
| 513 |
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|
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],
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| 521 |
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"median": 9.8,
|
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"p90": 23.72
|
| 523 |
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},
|
| 524 |
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"samples": 2942,
|
| 525 |
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"accepted": 2740,
|
| 526 |
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|
| 527 |
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|
| 528 |
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"head": {
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| 529 |
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"samples": 2942,
|
| 530 |
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"accepted": 2740,
|
| 531 |
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"gate_deg": 30.0,
|
| 532 |
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"offset_deg": 10.01,
|
| 533 |
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"tier": "primary",
|
| 534 |
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"dev_deg_median": 9.8,
|
| 535 |
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|
| 536 |
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}
|
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},
|
| 538 |
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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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"observed_fraction_of_valid": 0.8823,
|
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|
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"gsi": 12.56,
|
| 548 |
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"smplx": 1.86
|
| 549 |
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},
|
| 550 |
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|
| 551 |
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"flat": {
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| 552 |
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"median": 6.7,
|
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"p90": 10.7
|
| 554 |
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},
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"median": 6.2,
|
| 557 |
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"p90": 11.1
|
| 558 |
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}
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},
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"right": {
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],
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"dev_deg": {
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"median": 10.26,
|
| 570 |
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"p90": 25.08
|
| 571 |
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},
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| 572 |
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"samples": 3008,
|
| 573 |
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"accepted": 2814,
|
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"samples": 3008,
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|
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|
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"tier": "primary",
|
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"dev_deg_median": 10.26,
|
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|
| 584 |
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}
|
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},
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|
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|
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},
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"gsi": 9.83,
|
| 596 |
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|
| 597 |
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},
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"flat": {
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"median": 11.6,
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"p90": 17.4
|
| 602 |
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},
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"registered": {
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"median": 11.6,
|
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"p90": 15.6
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}
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}
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}
|
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},
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"max_dev_deg": 30.0,
|
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"max_gap_s": 1.0,
|
| 612 |
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"cameras_used": [
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"head"
|
| 614 |
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],
|
| 615 |
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"generated_at_utc": "2026-11-03T16:32:10.639543+00:00",
|
| 616 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 617 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 618 |
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"wrist_flip_suspect": []
|
| 619 |
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},
|
| 620 |
"release": {
|
| 621 |
"release_path": "actions/locomanipulation/LM73/session_001",
|
| 622 |
"family": "locomanipulation",
|
| 623 |
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|
| 624 |
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|
| 625 |
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},
|
| 626 |
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"task": {
|
| 627 |
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"primitive": "LM73",
|
| 628 |
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"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 629 |
}
|
| 630 |
}
|
actions/locomanipulation/LM73/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:1e0cc644651fc11ae3be6c10c0cbe70c3a8adfd928e19d37ba26b068197bc1fb
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| 3 |
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size 4058417
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actions/locomanipulation/LM73/session_001/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:04c30dd05f9f3cfe8f8acb909fd42b1c310c981e9b905e97ac1831bb1d694559
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size 9526139
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actions/locomanipulation/LM73/session_002/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM73",
|
| 6 |
+
"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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"video": "left_eye",
|
| 12 |
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|
| 13 |
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}
|
| 14 |
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],
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| 15 |
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"episodes": [
|
| 16 |
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{
|
| 17 |
+
"id": "e06244c2-912f-4a46-9ad5-b4a0650d0d94",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM73",
|
| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 0,
|
| 22 |
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|
| 23 |
+
"t_start": 0.0303,
|
| 24 |
+
"t_end": 104.1983,
|
| 25 |
+
"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM73/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:39671eefe49491c0a758cc812051e9f71901a1902789f230a7ab2ab388cfff5e
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| 3 |
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size 627992
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actions/locomanipulation/LM73/session_002/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -507,10 +507,124 @@
|
|
| 507 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 508 |
"remaining_gyro_frame_deg": 0.9292215568351648
|
| 509 |
},
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|
|
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|
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|
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|
|
|
|
|
|
| 510 |
"release": {
|
| 511 |
"release_path": "actions/locomanipulation/LM73/session_002",
|
| 512 |
"family": "locomanipulation",
|
| 513 |
"primitive": "LM73",
|
| 514 |
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|
| 515 |
}
|
| 516 |
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|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
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|
| 329 |
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"observed": true,
|
| 330 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
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|
| 332 |
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|
| 333 |
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|
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"p90": 25.18
|
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},
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|
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|
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],
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"generated_at_utc": "2026-11-03T16:32:18.526519+00:00",
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"generated_by": "scripts/register_hands_smplx.py",
|
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
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"wrist_flip_suspect": []
|
| 619 |
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|
| 620 |
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| 621 |
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| 623 |
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|
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|
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| 626 |
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"task": {
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| 627 |
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"primitive": "LM73",
|
| 628 |
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"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 629 |
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|
| 630 |
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actions/locomanipulation/LM73/session_002/motions/hands_mano.npz
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actions/locomanipulation/LM73/session_002/motions/smplx.npz
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actions/locomanipulation/LM73/session_003/annotations.json
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@@ -0,0 +1,28 @@
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{
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|
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|
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|
| 5 |
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"primitive": "LM73",
|
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|
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|
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|
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|
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"id": "afce6864-241f-4f80-b42d-1d3f7ef1ea67",
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"segment": "segment1",
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"action": "LM73",
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"quality": "valid",
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|
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"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM73/session_003/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
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|
| 1 |
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{
|
| 2 |
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|
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"groups_dropped": [],
|
| 4 |
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|
| 5 |
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|
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},
|
| 7 |
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|
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|
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|
| 10 |
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"against": [
|
| 11 |
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|
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|
| 13 |
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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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|
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|
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|
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|
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|
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],
|
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"split_deg": 0.0327,
|
| 28 |
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"usable": true
|
| 29 |
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},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
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"against": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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],
|
| 39 |
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"delta_deg": 1.706,
|
| 40 |
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"gate_fail": [],
|
| 41 |
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|
| 42 |
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"held_out_px_before": 5.905,
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
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|
| 61 |
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"role": "rig origin"
|
| 62 |
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},
|
| 63 |
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"right": {
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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],
|
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|
| 72 |
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|
| 73 |
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|
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|
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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| 622 |
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|
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|
| 624 |
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|
| 625 |
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|
| 626 |
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|
| 627 |
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"primitive": "LM73",
|
| 631 |
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"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 632 |
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actions/locomanipulation/LM73/session_003/motions/smplx.npz
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actions/locomanipulation/LM73/session_004/annotations.json
ADDED
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|
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|
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|
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|
| 5 |
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"primitive": "LM73",
|
| 6 |
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"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 26 |
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|
| 27 |
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|
| 28 |
+
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actions/locomanipulation/LM73/session_004/cameras/gsi_online_calibration.json
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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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|
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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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|
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|
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|
| 29 |
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|
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|
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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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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|
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| 631 |
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| 632 |
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ADDED
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{
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"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
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| 5 |
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"primitive": "LM73",
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"instruction": "Carry the box and, while you are still walking, turn it so you can read the label, read it out loud, then carry on. Repeat with the next box. Do not stop to read it."
|
| 26 |
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}
|
| 27 |
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]
|
| 28 |
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}
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