Release update 2026-11-05: 5760 sessions, instructions, annotations (part 249)
Browse files- actions/locomanipulation/LM06/session_004/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM06/session_004/cameras/poses.npz +2 -2
- actions/locomanipulation/LM06/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM06/session_004/meta.json +139 -25
- actions/locomanipulation/LM06/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM06/session_004/motions/head_rig.npz +2 -2
- actions/locomanipulation/LM06/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM06/session_005/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM06/session_005/cameras/poses.npz +2 -2
- actions/locomanipulation/LM06/session_005/cameras/slam.npz +3 -0
- actions/locomanipulation/LM06/session_005/meta.json +27 -23
- actions/locomanipulation/LM06/session_005/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM06/session_005/motions/head_rig.npz +2 -2
actions/locomanipulation/LM06/session_004/cameras/gsi_online_calibration.json
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| 1 |
+
{
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| 2 |
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| 3 |
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| 4 |
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| 141 |
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| 142 |
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CHANGED
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|
| 263 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
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|
| 265 |
"canonical": {
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| 266 |
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|
| 267 |
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[
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"instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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0.
|
| 284 |
]
|
| 285 |
],
|
| 286 |
"scale_nokov_to_canon": 0.001,
|
| 287 |
"T_canon_nokov_mm": [
|
| 288 |
[
|
| 289 |
-
0.
|
| 290 |
-
4.
|
| 291 |
-
1.
|
| 292 |
0.0
|
| 293 |
],
|
| 294 |
[
|
| 295 |
-
-1.
|
| 296 |
-
6.
|
| 297 |
-
-0.
|
| 298 |
0.0
|
| 299 |
],
|
| 300 |
[
|
| 301 |
-
-4.
|
| 302 |
-
0.
|
| 303 |
-
6.
|
| 304 |
0.0
|
| 305 |
],
|
| 306 |
[
|
|
@@ -312,7 +312,7 @@
|
|
| 312 |
],
|
| 313 |
"block": "20261023-morning",
|
| 314 |
"block_assignment": "trc",
|
| 315 |
-
"tilt_removed_deg": 0.
|
| 316 |
"plane_status": "ok",
|
| 317 |
"floor": {
|
| 318 |
"sole_marker_p1_mm": 19.2,
|
|
@@ -321,11 +321,11 @@
|
|
| 321 |
"gravity_check": {
|
| 322 |
"static_samples": 916,
|
| 323 |
"g_world_mean_m_s2": [
|
| 324 |
-
0.
|
| 325 |
-
-0.
|
| 326 |
9.7485
|
| 327 |
],
|
| 328 |
-
"tilt_from_z_deg": 1.
|
| 329 |
"tilt_from_z_deg_before_levelling": 1.385,
|
| 330 |
"magnitude_m_s2": 9.7507
|
| 331 |
},
|
|
@@ -551,6 +551,10 @@
|
|
| 551 |
"primitive": "LM06",
|
| 552 |
"source_session": "20261023/LM06/20261023_060343_session76"
|
| 553 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
| 554 |
"objects": [
|
| 555 |
{
|
| 556 |
"name": "HighRack",
|
|
|
|
| 263 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
|
| 264 |
},
|
| 265 |
"canonical": {
|
| 266 |
+
"generated_at_utc": "2026-11-03T09:16:55.107721+00:00",
|
| 267 |
"generated_by": "scripts/canonicalise_dataset.py",
|
| 268 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 269 |
"R_canon_nokov": [
|
| 270 |
[
|
| 271 |
+
0.9999906538,
|
| 272 |
+
0.004323437,
|
| 273 |
+
1.33659e-05
|
| 274 |
],
|
| 275 |
[
|
| 276 |
+
-1.33659e-05,
|
| 277 |
+
0.0061829029,
|
| 278 |
+
-0.9999808856
|
| 279 |
],
|
| 280 |
[
|
| 281 |
+
-0.004323437,
|
| 282 |
+
0.9999715394,
|
| 283 |
+
0.0061829029
|
| 284 |
]
|
| 285 |
],
|
| 286 |
"scale_nokov_to_canon": 0.001,
|
| 287 |
"T_canon_nokov_mm": [
|
| 288 |
[
|
| 289 |
+
0.000999990654,
|
| 290 |
+
4.323437e-06,
|
| 291 |
+
1.3366e-08,
|
| 292 |
0.0
|
| 293 |
],
|
| 294 |
[
|
| 295 |
+
-1.3366e-08,
|
| 296 |
+
6.182903e-06,
|
| 297 |
+
-0.000999980886,
|
| 298 |
0.0
|
| 299 |
],
|
| 300 |
[
|
| 301 |
+
-4.323437e-06,
|
| 302 |
+
0.000999971539,
|
| 303 |
+
6.182903e-06,
|
| 304 |
0.0
|
| 305 |
],
|
| 306 |
[
|
|
|
|
| 312 |
],
|
| 313 |
"block": "20261023-morning",
|
| 314 |
"block_assignment": "trc",
|
| 315 |
+
"tilt_removed_deg": 0.4322755857928103,
|
| 316 |
"plane_status": "ok",
|
| 317 |
"floor": {
|
| 318 |
"sole_marker_p1_mm": 19.2,
|
|
|
|
| 321 |
"gravity_check": {
|
| 322 |
"static_samples": 916,
|
| 323 |
"g_world_mean_m_s2": [
|
| 324 |
+
0.1458,
|
| 325 |
+
-0.1514,
|
| 326 |
9.7485
|
| 327 |
],
|
| 328 |
+
"tilt_from_z_deg": 1.235,
|
| 329 |
"tilt_from_z_deg_before_levelling": 1.385,
|
| 330 |
"magnitude_m_s2": 9.7507
|
| 331 |
},
|
|
|
|
| 551 |
"primitive": "LM06",
|
| 552 |
"source_session": "20261023/LM06/20261023_060343_session76"
|
| 553 |
},
|
| 554 |
+
"task": {
|
| 555 |
+
"primitive": "LM06",
|
| 556 |
+
"instruction": "Take an object from the waist-height shelf, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 557 |
+
},
|
| 558 |
"objects": [
|
| 559 |
{
|
| 560 |
"name": "HighRack",
|
actions/locomanipulation/LM06/session_005/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
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|
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actions/locomanipulation/LM06/session_005/motions/head_rig.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
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| 2 |
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