Release update 2026-11-05: new sessions, instructions, annotations (part 230)
Browse files- actions/locomanipulation/LM27/session_010/meta.json +4 -0
- actions/locomanipulation/LM27/session_010/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM27/session_011/annotations.json +28 -0
- actions/locomanipulation/LM27/session_011/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM27/session_011/cameras/slam.npz +3 -0
- actions/locomanipulation/LM27/session_011/meta.json +4 -0
- actions/locomanipulation/LM27/session_011/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM27/session_012/annotations.json +28 -0
- actions/locomanipulation/LM27/session_012/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM27/session_012/cameras/slam.npz +3 -0
actions/locomanipulation/LM27/session_010/meta.json
CHANGED
|
@@ -512,5 +512,9 @@
|
|
| 512 |
"family": "locomanipulation",
|
| 513 |
"primitive": "LM27",
|
| 514 |
"source_session": "20260922/LM27/20260922_022210_session19"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 515 |
}
|
| 516 |
}
|
|
|
|
| 512 |
"family": "locomanipulation",
|
| 513 |
"primitive": "LM27",
|
| 514 |
"source_session": "20260922/LM27/20260922_022210_session19"
|
| 515 |
+
},
|
| 516 |
+
"task": {
|
| 517 |
+
"primitive": "LM27",
|
| 518 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 519 |
}
|
| 520 |
}
|
actions/locomanipulation/LM27/session_010/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3d8beb6237a01173b999c6433a7d558b9d01bda89e5d108ef041930cd2e96286
|
| 3 |
+
size 5127776
|
actions/locomanipulation/LM27/session_011/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "LM27",
|
| 6 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 138.966622,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039122179094779996
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "695814a5-e5eb-457d-8b78-8938703175ab",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM27",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 133.582,
|
| 23 |
+
"t_start": 0.0391,
|
| 24 |
+
"t_end": 133.6211,
|
| 25 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM27/session_011/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.385
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 1.0466,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.51,
|
| 19 |
+
"held_out_px_before": 4.622,
|
| 20 |
+
"inliers": 2538,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-0.1472,
|
| 24 |
+
-0.4745,
|
| 25 |
+
-0.9212
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0763,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
+
"delta_deg": 2.2513,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.44,
|
| 42 |
+
"held_out_px_before": 6.914,
|
| 43 |
+
"inliers": 3955,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
5.54,
|
| 47 |
+
-17.03,
|
| 48 |
+
6.06
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.229,
|
| 51 |
+
"position_split_mm": 1.375,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
-0.2304,
|
| 54 |
+
0.8167,
|
| 55 |
+
-2.0852
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0645,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.4883,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.618,
|
| 74 |
+
"held_out_px_before": 4.999,
|
| 75 |
+
"inliers": 1631,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.3551,
|
| 79 |
+
-0.4593,
|
| 80 |
+
-0.4096
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.1005,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.8066,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.391,
|
| 97 |
+
"held_out_px_before": 3.839,
|
| 98 |
+
"inliers": 4228,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
7.34,
|
| 102 |
+
-18.7,
|
| 103 |
+
5.95
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.222,
|
| 106 |
+
"position_split_mm": 1.264,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.0402,
|
| 109 |
+
-0.3501,
|
| 110 |
+
-0.7256
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0661,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.9544,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.336,
|
| 127 |
+
"held_out_px_before": 6.214,
|
| 128 |
+
"inliers": 4979,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.5444,
|
| 132 |
+
0.1693,
|
| 133 |
+
-1.8693
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0121,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "a01ecca7d1a44c3e10ef90be7befe514ae20f8adaa9158ca98e67b43a6b90a4b",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "7d8b8b39eaf0fec77cc07d0daade7d38b8aa52d5671818ded27a22611c00a490",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "92f5adc9ea97df29f783bd77d57282ac5d4f20011c908aa21a42d079e4fe185f",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "a72feb698c205abd94d73f03900a86dc3a3b8b2f9a0f19c427c8c946c15318de",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "70657dfb3981c867",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "aca2ccd69f026ed0821b5bb4d3a2d668d877c80520d027ad2b688f4f59cdce24",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 40.584,
|
| 182 |
+
"left_eye": 35.871,
|
| 183 |
+
"left_front": 41.464,
|
| 184 |
+
"right": 37.112,
|
| 185 |
+
"right_eye": 34.056,
|
| 186 |
+
"right_front": 40.87
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
2611754863555,
|
| 197 |
+
2612754952444,
|
| 198 |
+
2616754863555,
|
| 199 |
+
2617754919111,
|
| 200 |
+
2620754863555,
|
| 201 |
+
2621754852444,
|
| 202 |
+
2625754885777,
|
| 203 |
+
2626754874666,
|
| 204 |
+
2629754908000,
|
| 205 |
+
2630754985777,
|
| 206 |
+
2631754863555,
|
| 207 |
+
2632754885777,
|
| 208 |
+
2638754863555,
|
| 209 |
+
2639754863555,
|
| 210 |
+
2642754930222,
|
| 211 |
+
2643754908000,
|
| 212 |
+
2646754885777,
|
| 213 |
+
2647754863555,
|
| 214 |
+
2650754874666,
|
| 215 |
+
2651754863555,
|
| 216 |
+
2656754863555,
|
| 217 |
+
2657754919111,
|
| 218 |
+
2658754863555,
|
| 219 |
+
2659754874666,
|
| 220 |
+
2664754952444,
|
| 221 |
+
2665755019111,
|
| 222 |
+
2670754863555,
|
| 223 |
+
2671754908000,
|
| 224 |
+
2674754885777,
|
| 225 |
+
2675754908000,
|
| 226 |
+
2678754908000,
|
| 227 |
+
2679754863555,
|
| 228 |
+
2681754908000,
|
| 229 |
+
2682754919111,
|
| 230 |
+
2687754863555,
|
| 231 |
+
2688754863555,
|
| 232 |
+
2692754930222,
|
| 233 |
+
2693754863555,
|
| 234 |
+
2696754919111,
|
| 235 |
+
2697754885777,
|
| 236 |
+
2698754919111,
|
| 237 |
+
2699754863555,
|
| 238 |
+
2703754919111,
|
| 239 |
+
2704754885777,
|
| 240 |
+
2710754930222,
|
| 241 |
+
2711754863555,
|
| 242 |
+
2713754930222,
|
| 243 |
+
2714754874666,
|
| 244 |
+
2719754874666,
|
| 245 |
+
2720754863555,
|
| 246 |
+
2721754874666,
|
| 247 |
+
2728754919111,
|
| 248 |
+
2729754919111,
|
| 249 |
+
2732754874666,
|
| 250 |
+
2733754930222,
|
| 251 |
+
2737754863555,
|
| 252 |
+
2738754963555,
|
| 253 |
+
2739754919111
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"version": 1
|
| 257 |
+
}
|
actions/locomanipulation/LM27/session_011/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e65930e2a7aa4c159a1d1569664430f8c67ade7b866a373ad9f29e022251f1a2
|
| 3 |
+
size 800034
|
actions/locomanipulation/LM27/session_011/meta.json
CHANGED
|
@@ -510,5 +510,9 @@
|
|
| 510 |
"family": "locomanipulation",
|
| 511 |
"primitive": "LM27",
|
| 512 |
"source_session": "20260922/LM27/20260922_022459_session20"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 513 |
}
|
| 514 |
}
|
|
|
|
| 510 |
"family": "locomanipulation",
|
| 511 |
"primitive": "LM27",
|
| 512 |
"source_session": "20260922/LM27/20260922_022459_session20"
|
| 513 |
+
},
|
| 514 |
+
"task": {
|
| 515 |
+
"primitive": "LM27",
|
| 516 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 517 |
}
|
| 518 |
}
|
actions/locomanipulation/LM27/session_011/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8dd2ff327e03a7cbe36dd01831808033db1845a00e73af942d03e78294340064
|
| 3 |
+
size 5539367
|
actions/locomanipulation/LM27/session_012/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": "LM27",
|
| 6 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966711,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03916369334462955
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "a022ae51-080d-43e6-bf04-0ca325ce6507",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM27",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 130.097,
|
| 23 |
+
"t_start": 0.0392,
|
| 24 |
+
"t_end": 130.1362,
|
| 25 |
+
"instruction": "Carry the box while walking backward. The operator confirms the space behind you is clear before each take."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM27/session_012/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.357
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 1.0828,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.479,
|
| 19 |
+
"held_out_px_before": 4.642,
|
| 20 |
+
"inliers": 2505,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-0.1713,
|
| 24 |
+
-0.5248,
|
| 25 |
+
-0.9315
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0918,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
+
"left_eye": {
|
| 31 |
+
"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
+
],
|
| 39 |
+
"delta_deg": 2.2936,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.42,
|
| 42 |
+
"held_out_px_before": 7.18,
|
| 43 |
+
"inliers": 3580,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
6.12,
|
| 47 |
+
-18.19,
|
| 48 |
+
6.07
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.246,
|
| 51 |
+
"position_split_mm": 1.596,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
-0.2278,
|
| 54 |
+
0.8366,
|
| 55 |
+
-2.1235
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0501,
|
| 58 |
+
"usable": true
|
| 59 |
+
},
|
| 60 |
+
"left_front": {
|
| 61 |
+
"role": "rig origin"
|
| 62 |
+
},
|
| 63 |
+
"right": {
|
| 64 |
+
"accepted": true,
|
| 65 |
+
"against": [
|
| 66 |
+
"left_front",
|
| 67 |
+
"right_front",
|
| 68 |
+
"left_eye",
|
| 69 |
+
"right_eye"
|
| 70 |
+
],
|
| 71 |
+
"delta_deg": 1.5134,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.601,
|
| 74 |
+
"held_out_px_before": 5.341,
|
| 75 |
+
"inliers": 1620,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.3446,
|
| 79 |
+
-0.5288,
|
| 80 |
+
-0.4502
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0742,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
+
"right_eye": {
|
| 86 |
+
"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.81,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.345,
|
| 97 |
+
"held_out_px_before": 3.984,
|
| 98 |
+
"inliers": 3905,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
7.97,
|
| 102 |
+
-16.01,
|
| 103 |
+
4.42
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.259,
|
| 106 |
+
"position_split_mm": 1.22,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.0855,
|
| 109 |
+
-0.3286,
|
| 110 |
+
-0.7354
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0431,
|
| 113 |
+
"usable": true
|
| 114 |
+
},
|
| 115 |
+
"right_front": {
|
| 116 |
+
"accepted": true,
|
| 117 |
+
"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.9552,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.298,
|
| 127 |
+
"held_out_px_before": 6.77,
|
| 128 |
+
"inliers": 4722,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.5608,
|
| 132 |
+
0.1836,
|
| 133 |
+
-1.864
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0109,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
+
"device_id": "e17c9efadb69e7b1",
|
| 141 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
+
"files": {
|
| 143 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
+
"sha256": "f3e458f3ac66843fe34ee14aadd5abe3ab651eeef44760b7898114de0ab64262",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "18f8c219af21f08b1354dea56678daac385cf6f1a7984859bc417569e874fabd",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "ef17a709b54435d716e451c58382b192c1985dc14ea851ca45aa653e97d78395",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "79e21146adc9c266759c5bee8a6dbfd0d511022d23b4e166abf090c3eeb84925",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "b985129e0d67d937",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "d5c14d123b606d2a9548e8370ff92813b91b08b812722d7b3e5b544a8deb6fe4",
|
| 163 |
+
"overlap": {
|
| 164 |
+
"left-right": 0.501,
|
| 165 |
+
"left_eye-left": 0.707,
|
| 166 |
+
"left_eye-right": 0.671,
|
| 167 |
+
"left_front-left": 0.478,
|
| 168 |
+
"left_front-left_eye": 0.72,
|
| 169 |
+
"left_front-right": 0.448,
|
| 170 |
+
"left_front-right_eye": 0.732,
|
| 171 |
+
"left_front-right_front": 1.0,
|
| 172 |
+
"right_eye-left": 0.696,
|
| 173 |
+
"right_eye-left_eye": 1.0,
|
| 174 |
+
"right_eye-right": 0.673,
|
| 175 |
+
"right_front-left": 0.464,
|
| 176 |
+
"right_front-left_eye": 0.723,
|
| 177 |
+
"right_front-right": 0.466,
|
| 178 |
+
"right_front-right_eye": 0.734
|
| 179 |
+
},
|
| 180 |
+
"picture_change": {
|
| 181 |
+
"left": 37.953,
|
| 182 |
+
"left_eye": 30.421,
|
| 183 |
+
"left_front": 39.798,
|
| 184 |
+
"right": 35.035,
|
| 185 |
+
"right_eye": 30.581,
|
| 186 |
+
"right_front": 37.303
|
| 187 |
+
},
|
| 188 |
+
"runtime": {
|
| 189 |
+
"numpy": "2.4.6",
|
| 190 |
+
"opencv": "5.0.0",
|
| 191 |
+
"scipy": "1.17.1"
|
| 192 |
+
},
|
| 193 |
+
"segment": 1,
|
| 194 |
+
"selection": {
|
| 195 |
+
"overlap_captures": [
|
| 196 |
+
2760962240555,
|
| 197 |
+
2761962185000,
|
| 198 |
+
2763962218333,
|
| 199 |
+
2764962196111,
|
| 200 |
+
2768962196111,
|
| 201 |
+
2769962185000,
|
| 202 |
+
2772962240555,
|
| 203 |
+
2773962240555,
|
| 204 |
+
2777962196111,
|
| 205 |
+
2778962185000,
|
| 206 |
+
2783962229444,
|
| 207 |
+
2784962229444,
|
| 208 |
+
2785962185000,
|
| 209 |
+
2788962185000,
|
| 210 |
+
2789962185000,
|
| 211 |
+
2793962185000,
|
| 212 |
+
2794962185000,
|
| 213 |
+
2798962229444,
|
| 214 |
+
2799962262777,
|
| 215 |
+
2802962273888,
|
| 216 |
+
2803962207222,
|
| 217 |
+
2807962207222,
|
| 218 |
+
2808962196111,
|
| 219 |
+
2813962262777,
|
| 220 |
+
2814962218333,
|
| 221 |
+
2815962196111,
|
| 222 |
+
2819962185000,
|
| 223 |
+
2820962185000,
|
| 224 |
+
2825962251666,
|
| 225 |
+
2826962262777,
|
| 226 |
+
2828962196111,
|
| 227 |
+
2829962207222,
|
| 228 |
+
2834962229444,
|
| 229 |
+
2835962185000,
|
| 230 |
+
2836962229444,
|
| 231 |
+
2837962196111,
|
| 232 |
+
2844962362777,
|
| 233 |
+
2845962229444,
|
| 234 |
+
2848962185000,
|
| 235 |
+
2849962196111,
|
| 236 |
+
2850962240555,
|
| 237 |
+
2851962218333,
|
| 238 |
+
2856962262777,
|
| 239 |
+
2857962196111,
|
| 240 |
+
2858962185000,
|
| 241 |
+
2859962185000,
|
| 242 |
+
2863962173888,
|
| 243 |
+
2864962185000,
|
| 244 |
+
2868962185000,
|
| 245 |
+
2869962196111,
|
| 246 |
+
2872962207222,
|
| 247 |
+
2873962185000,
|
| 248 |
+
2876962229444,
|
| 249 |
+
2877962185000,
|
| 250 |
+
2881962218333,
|
| 251 |
+
2882962229444,
|
| 252 |
+
2884962185000,
|
| 253 |
+
2885962185000
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"version": 1
|
| 257 |
+
}
|
actions/locomanipulation/LM27/session_012/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f57632a4dad08743ba443166488203d70c42b21e52b89aea49c6dce12ea8fa55
|
| 3 |
+
size 771597
|