Release update 2026-11-05: new sessions, instructions, annotations (part 260)
Browse files- actions/locomanipulation/LM29/session_015/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM29/session_016/annotations.json +28 -0
- actions/locomanipulation/LM29/session_016/cameras/gsi_online_calibration.json +254 -0
- actions/locomanipulation/LM29/session_016/cameras/slam.npz +3 -0
- actions/locomanipulation/LM29/session_016/meta.json +4 -0
- actions/locomanipulation/LM29/session_016/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM29/session_017/annotations.json +28 -0
- actions/locomanipulation/LM29/session_017/cameras/gsi_online_calibration.json +222 -0
- actions/locomanipulation/LM29/session_017/cameras/slam.npz +3 -0
- actions/locomanipulation/LM29/session_017/meta.json +4 -0
- actions/locomanipulation/LM29/session_017/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM29/session_018/annotations.json +28 -0
- actions/locomanipulation/LM29/session_018/cameras/gsi_online_calibration.json +261 -0
- actions/locomanipulation/LM29/session_018/cameras/slam.npz +3 -0
- actions/locomanipulation/LM29/session_018/meta.json +116 -2
- actions/locomanipulation/LM29/session_018/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM29/session_018/motions/smplx.npz +2 -2
- actions/locomanipulation/LM29/session_019/annotations.json +28 -0
- actions/locomanipulation/LM29/session_019/cameras/gsi_online_calibration.json +264 -0
actions/locomanipulation/LM29/session_015/motions/hands_mano.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:c6847114c3d4b03667b9ce63b42a208756468434a431f150554b7ef39e94dc80
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size 4689418
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actions/locomanipulation/LM29/session_016/annotations.json
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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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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"primitive": "LM29",
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"instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 124.966644,
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| 11 |
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03955571724825743
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}
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],
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| 15 |
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"episodes": [
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{
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"id": "b8f00a39-0b4a-4b8a-ba96-a5c851d5802e",
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| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM29",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 1.184,
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| 22 |
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"end_s": 122.085,
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| 23 |
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"t_start": 1.2236,
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| 24 |
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"t_end": 122.1246,
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| 25 |
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"instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 26 |
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}
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| 27 |
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]
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| 28 |
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}
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actions/locomanipulation/LM29/session_016/cameras/gsi_online_calibration.json
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| 1 |
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{
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| 2 |
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"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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"median_px": 0.411
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},
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| 7 |
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"cameras": {
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| 8 |
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"left": {
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"accepted": true,
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| 10 |
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"against": [
|
| 11 |
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"left_front",
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"right_front",
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| 13 |
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"left_eye",
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"right_eye",
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| 15 |
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"right"
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| 16 |
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],
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"delta_deg": 2.3259,
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| 18 |
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"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.585,
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"inliers": 1280,
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"position_fitted": false,
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"rotvec_deg": [
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|
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|
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],
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"split_deg": 0.0453,
|
| 29 |
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"usable": true
|
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},
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"left_eye": {
|
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"accepted": true,
|
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"against": [
|
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"left_front",
|
| 35 |
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|
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|
| 37 |
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|
| 38 |
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"role": "rig origin"
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| 62 |
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},
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"right": {
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"accepted": true,
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],
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"usable": true
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},
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"right_front",
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"left",
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],
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],
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],
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}
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},
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"code_fingerprint": "711ecf5b3dd408f8",
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"device_id": "e3296774a321bb51",
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"factory_root_name": "e3296774a321bb51",
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| 142 |
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"files": {
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| 143 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
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| 144 |
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"sha256": "b4bbb7aed7e8ecb88bb821ffc103e98c715e6f29d3845bb106b0ba4b30eb3828",
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},
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
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| 148 |
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"sha256": "2f1914540173472f25fc140e5634ed72cf6c57e8aacec1704142403ef65ef7f3",
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},
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
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"input_fingerprint": "6c36de4ce8c9b538",
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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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| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:7009223e595da0a832a9e77de6e28290671964e7cc7dea693107a1bfcc0ecd8a
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| 3 |
+
size 10319058
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actions/locomanipulation/LM29/session_019/annotations.json
ADDED
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@@ -0,0 +1,28 @@
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| 1 |
+
{
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| 2 |
+
"schema_version": 1,
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| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
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| 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",
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| 5 |
+
"primitive": "LM29",
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| 6 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
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| 7 |
+
"segments": [
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| 8 |
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{
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| 9 |
+
"id": "segment1",
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| 10 |
+
"duration_s": 117.766678,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039475198204981035
|
| 13 |
+
}
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| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "c32d1bbc-5a43-4227-998a-3d4d6f10bab8",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM29",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.4,
|
| 22 |
+
"end_s": 111.894,
|
| 23 |
+
"t_start": 1.4395,
|
| 24 |
+
"t_end": 111.9335,
|
| 25 |
+
"instruction": "Carry the box up onto the platform, across it, and down the other side, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
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actions/locomanipulation/LM29/session_019/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,264 @@
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|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
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{
|
| 5 |
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"matches": 38,
|
| 6 |
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"median_px": 4.26,
|
| 7 |
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"pair": [
|
| 8 |
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"left",
|
| 9 |
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"right"
|
| 10 |
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]
|
| 11 |
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}
|
| 12 |
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],
|
| 13 |
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"groups_used": 14,
|
| 14 |
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"median_px": 0.418
|
| 15 |
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},
|
| 16 |
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"cameras": {
|
| 17 |
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"left": {
|
| 18 |
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"accepted": true,
|
| 19 |
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"against": [
|
| 20 |
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"left_front",
|
| 21 |
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"right_front",
|
| 22 |
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"left_eye",
|
| 23 |
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"right_eye"
|
| 24 |
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],
|
| 25 |
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"delta_deg": 1.6189,
|
| 26 |
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"gate_fail": [],
|
| 27 |
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"held_out_px_after": 0.526,
|
| 28 |
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"held_out_px_before": 19.146,
|
| 29 |
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"inliers": 1741,
|
| 30 |
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"position_fitted": false,
|
| 31 |
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"rotvec_deg": [
|
| 32 |
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-0.9212,
|
| 33 |
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-0.1966,
|
| 34 |
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-1.3166
|
| 35 |
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],
|
| 36 |
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"split_deg": 0.1745,
|
| 37 |
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"usable": true
|
| 38 |
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},
|
| 39 |
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"left_eye": {
|
| 40 |
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"accepted": true,
|
| 41 |
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"against": [
|
| 42 |
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"left_front",
|
| 43 |
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"right_front",
|
| 44 |
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"right_eye",
|
| 45 |
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"left",
|
| 46 |
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"right"
|
| 47 |
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],
|
| 48 |
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"delta_deg": 2.324,
|
| 49 |
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"gate_fail": [],
|
| 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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-4.24
|
| 58 |
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],
|
| 59 |
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"position_sigma_mm": 0.168,
|
| 60 |
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"position_split_mm": 4.867,
|
| 61 |
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"rotvec_deg": [
|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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],
|
| 66 |
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"split_deg": 0.0765,
|
| 67 |
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"usable": true
|
| 68 |
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},
|
| 69 |
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"left_front": {
|
| 70 |
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"role": "rig origin"
|
| 71 |
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},
|
| 72 |
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"right": {
|
| 73 |
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"accepted": true,
|
| 74 |
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"against": [
|
| 75 |
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"left_front",
|
| 76 |
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"right_front",
|
| 77 |
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|
| 78 |
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|
| 79 |
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],
|
| 80 |
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"delta_deg": 3.4279,
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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],
|
| 91 |
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"split_deg": 0.0544,
|
| 92 |
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"usable": true
|
| 93 |
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},
|
| 94 |
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"right_eye": {
|
| 95 |
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"accepted": true,
|
| 96 |
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"against": [
|
| 97 |
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|
| 98 |
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"right_front",
|
| 99 |
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"left_eye",
|
| 100 |
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"left",
|
| 101 |
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"right"
|
| 102 |
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],
|
| 103 |
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"delta_deg": 2.9115,
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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],
|
| 114 |
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"position_sigma_mm": 0.149,
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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],
|
| 121 |
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"split_deg": 0.0167,
|
| 122 |
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"usable": true
|
| 123 |
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},
|
| 124 |
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|
| 125 |
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|
| 126 |
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"against": [
|
| 127 |
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"left_front",
|
| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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|
| 132 |
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],
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"delta_deg": 0.5003,
|
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|
| 135 |
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|
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|
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|
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|
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|
| 143 |
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],
|
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"split_deg": 0.0153,
|
| 145 |
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"usable": true
|
| 146 |
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}
|
| 147 |
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},
|
| 148 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 149 |
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"device_id": "c9205ac6e17d2d5c",
|
| 150 |
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"factory_root_name": "c9205ac6e17d2d5c",
|
| 151 |
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"files": {
|
| 152 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 153 |
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"sha256": "921d1ca0e49786ccd781dd5306e1b7b2d16781210026e48b071626e9062b3bfd",
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|
| 155 |
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},
|
| 156 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 157 |
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"sha256": "31d7ed04cedd7f1d900f51d23f4f4174e5003f4bfd6d2685b2723c02bf3f7eb6",
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},
|
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 161 |
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"sha256": "e3b6251ed4910a582d893e348dbb8d1fe8d2fc1e7acdcdcecb2c43acacc68604",
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},
|
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 165 |
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"sha256": "68e6aec0c4e2ae1f5424fb97ef7a29320a5af22c4396c3cc9d3061b37bb89ba8",
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}
|
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},
|
| 169 |
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"input_fingerprint": "412219e1c6048c66",
|
| 170 |
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"kind": "online_calibration",
|
| 171 |
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"output_sha256": "6d1d80b81968ecd69099545c3694e0d0335b0c293dd72e996e0efc55e0142563",
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|
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|
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|
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|
| 176 |
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|
| 177 |
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|
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"left_front-right": 0.458,
|
| 179 |
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"left_front-right_eye": 0.698,
|
| 180 |
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|
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"right_eye-left": 0.699,
|
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|
| 183 |
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|
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|
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|
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"right_front-right": 0.464,
|
| 187 |
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"right_front-right_eye": 0.704
|
| 188 |
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},
|
| 189 |
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|
| 190 |
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"left": 44.004,
|
| 191 |
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"left_eye": 45.021,
|
| 192 |
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|
| 193 |
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"right": 46.139,
|
| 194 |
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"right_eye": 46.087,
|
| 195 |
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"right_front": 45.566
|
| 196 |
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},
|
| 197 |
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"runtime": {
|
| 198 |
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"numpy": "2.4.6",
|
| 199 |
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|
| 200 |
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|
| 201 |
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},
|
| 202 |
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"segment": 1,
|
| 203 |
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"selection": {
|
| 204 |
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