Mayur1092 commited on
Commit
22a08a4
·
verified ·
1 Parent(s): 5755187

Release update 2026-11-05: new sessions, instructions, annotations (part 380)

Browse files
Files changed (35) hide show
  1. .gitattributes +2 -0
  2. actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_mag_left.db +3 -0
  3. actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_mag_right.db +3 -0
  4. actions/locomanipulation/LM36/session_036/sensors/head_imu.npz +3 -0
  5. actions/locomanipulation/LM36/session_036/sensors/head_mag.npz +3 -0
  6. actions/locomanipulation/LM36/session_036/sensors/wrist_imu.npz +3 -0
  7. actions/locomanipulation/LM36/session_036/sensors/wrist_mag.npz +3 -0
  8. actions/locomanipulation/LM36/session_036/videos/frame_timestamps.npz +3 -0
  9. actions/locomanipulation/LM36/session_036/videos/head_left.mp4 +3 -0
  10. actions/locomanipulation/LM36/session_036/videos/head_left_eye.mp4 +3 -0
  11. actions/locomanipulation/LM36/session_036/videos/head_left_front.mp4 +3 -0
  12. actions/locomanipulation/LM36/session_036/videos/head_right.mp4 +3 -0
  13. actions/locomanipulation/LM36/session_036/videos/head_right_eye.mp4 +3 -0
  14. actions/locomanipulation/LM36/session_036/videos/head_right_front.mp4 +3 -0
  15. actions/locomanipulation/LM36/session_036/videos/third_person.mp4 +3 -0
  16. actions/locomanipulation/LM36/session_036/videos/wrist_left.mp4 +3 -0
  17. actions/locomanipulation/LM36/session_036/videos/wrist_right.mp4 +3 -0
  18. actions/locomanipulation/LM37/session_001/annotations.json +28 -0
  19. actions/locomanipulation/LM37/session_001/cameras/gsi_online_calibration.json +255 -0
  20. actions/locomanipulation/LM37/session_001/cameras/slam.npz +3 -0
  21. actions/locomanipulation/LM37/session_001/meta.json +4 -0
  22. actions/locomanipulation/LM37/session_001/motions/hands_mano.npz +3 -0
  23. actions/locomanipulation/LM37/session_002/annotations.json +28 -0
  24. actions/locomanipulation/LM37/session_002/cameras/gsi_online_calibration.json +258 -0
  25. actions/locomanipulation/LM37/session_002/cameras/slam.npz +3 -0
  26. actions/locomanipulation/LM37/session_002/meta.json +4 -0
  27. actions/locomanipulation/LM37/session_002/motions/hands_mano.npz +3 -0
  28. actions/locomanipulation/LM37/session_003/annotations.json +28 -0
  29. actions/locomanipulation/LM37/session_003/cameras/gsi_online_calibration.json +257 -0
  30. actions/locomanipulation/LM37/session_003/cameras/slam.npz +3 -0
  31. actions/locomanipulation/LM37/session_003/meta.json +4 -0
  32. actions/locomanipulation/LM37/session_003/motions/hands_mano.npz +3 -0
  33. actions/locomanipulation/LM37/session_004/annotations.json +28 -0
  34. actions/locomanipulation/LM37/session_004/cameras/gsi_online_calibration.json +250 -0
  35. actions/locomanipulation/LM37/session_004/cameras/slam.npz +3 -0
.gitattributes CHANGED
@@ -45244,3 +45244,5 @@ actions/locomanipulation/LM36/session_036/raw/sensors/robocap_imu_right.db filte
45244
  actions/locomanipulation/LM36/session_036/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
45245
  actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
45246
  actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
 
 
 
45244
  actions/locomanipulation/LM36/session_036/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
45245
  actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
45246
  actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
45247
+ actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
45248
+ actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_mag_left.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0504f05b56985abf9901b5adf0d1fd829bce768d71535eb1cad794f63efa4858
3
+ size 360448
actions/locomanipulation/LM36/session_036/raw/sensors/robowrist_mag_right.db ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59709041c226d390d416f04f4484b28a7fd4d407f8d740220e7d21820ecb149e
3
+ size 360448
actions/locomanipulation/LM36/session_036/sensors/head_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c45bac73b96e7d9a2557a75df3a8499ebd8fe0d3a42d4b88cc6cdd08fc613283
3
+ size 1395572
actions/locomanipulation/LM36/session_036/sensors/head_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1541307c60e22bf88e890b4ccd48fcea3d744a2a42a11b11e57e5735994f6b42
3
+ size 167691
actions/locomanipulation/LM36/session_036/sensors/wrist_imu.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd60e4044643676dbaf03fb4a62d0703e8cd238929de6205d6a89df22333a86a
3
+ size 1399900
actions/locomanipulation/LM36/session_036/sensors/wrist_mag.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:54ca678e88a62f99182de54f4cb9c591399f821177ab6c2b066b29ae0ee1ef69
3
+ size 292554
actions/locomanipulation/LM36/session_036/videos/frame_timestamps.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49a4012299eab14418616388bd8043119b5069fe3330827530a0890c0ad0b4b6
3
+ size 279457
actions/locomanipulation/LM36/session_036/videos/head_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b7509c1c840091cf3c8dac9d4f60ed66dc3c0f4dc0d645d327024070e79388d0
3
+ size 70067355
actions/locomanipulation/LM36/session_036/videos/head_left_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:24e52b703b2ed138060382b812fed5f025e6250e9798186e5260624e31f6c8d2
3
+ size 67574697
actions/locomanipulation/LM36/session_036/videos/head_left_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fc8dcc985a779ac1b89bfdd4509baf61cc296785d59d4e918d852a9c76129d17
3
+ size 70126031
actions/locomanipulation/LM36/session_036/videos/head_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:42a931131ad1f1d1b2a004179466c710ddd8cc7da0bf7e9610073fd7257dc8ae
3
+ size 70106541
actions/locomanipulation/LM36/session_036/videos/head_right_eye.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:869f2dc7e65be7db7c65614447f4d1c6419280f554f32ce3d1c1c53bb99ddbfa
3
+ size 70120967
actions/locomanipulation/LM36/session_036/videos/head_right_front.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:122d3effe2904fec6cb6f30d72314a2263b69dc1e596765b64df572ba63c89f7
3
+ size 70130079
actions/locomanipulation/LM36/session_036/videos/third_person.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:464a532730b411b5914d10b6fed045cf7878e85bb0458dd2768b4e387033c0e4
3
+ size 70973559
actions/locomanipulation/LM36/session_036/videos/wrist_left.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f9ba5566e0e1995835283abd887463f08a8273d3404c3dee0530b0b31e9db10d
3
+ size 30854048
actions/locomanipulation/LM36/session_036/videos/wrist_right.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9fcd961a633199b5576bf4a24b0f2efd3afc872506394e02d219cef150db22c2
3
+ size 36136266
actions/locomanipulation/LM37/session_001/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": "LM37",
6
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 123.966722,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03923584823851067
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "ad741b9c-b27b-4f89-bbd5-8f65760c973c",
18
+ "segment": "segment1",
19
+ "action": "LM37",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 121.697,
23
+ "t_start": 0.0392,
24
+ "t_end": 121.7362,
25
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM37/session_001/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.406
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": 0.9925,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.447,
19
+ "held_out_px_before": 4.533,
20
+ "inliers": 2034,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ 0.5101,
24
+ -0.3279,
25
+ -0.7857
26
+ ],
27
+ "split_deg": 0.0878,
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": 1.9063,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.406,
42
+ "held_out_px_before": 5.696,
43
+ "inliers": 3685,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 4.92,
47
+ -17.4,
48
+ 3.66
49
+ ],
50
+ "position_sigma_mm": 0.175,
51
+ "position_split_mm": 0.948,
52
+ "rotvec_deg": [
53
+ 0.0053,
54
+ 0.628,
55
+ -1.7999
56
+ ],
57
+ "split_deg": 0.033,
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": 1.1894,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.601,
74
+ "held_out_px_before": 3.417,
75
+ "inliers": 1447,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.1429,
79
+ -0.225,
80
+ -0.2406
81
+ ],
82
+ "split_deg": 0.0883,
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": 0.6808,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.433,
97
+ "held_out_px_before": 3.028,
98
+ "inliers": 3856,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 6.57,
102
+ -18.67,
103
+ 3.45
104
+ ],
105
+ "position_sigma_mm": 0.226,
106
+ "position_split_mm": 0.946,
107
+ "rotvec_deg": [
108
+ 0.2371,
109
+ -0.4538,
110
+ -0.4487
111
+ ],
112
+ "split_deg": 0.0298,
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": 1.356,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.375,
127
+ "held_out_px_before": 5.309,
128
+ "inliers": 3683,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ -0.3605,
132
+ 0.0033,
133
+ -1.3072
134
+ ],
135
+ "split_deg": 0.0232,
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": "50664273edf9ad22abd27860bf33e32c5e540658df00ec17832bbe57624ab841",
145
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "842e6e10373e9bdbc6c0f7ed5ca013661f935dfaf916dfa43ac0760c9d82aa38",
149
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "6925460a538b7ecbac04e9acbcff0e49b25c7faedbf070ff6d7927868baab5fd",
153
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "a3498de539ebf20fc3e3b9b04576de0c0291b6b506922669b8bf41e719c81f1d",
157
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
158
+ }
159
+ },
160
+ "input_fingerprint": "96d539b13a3b052f",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "cb82291a3840effef27092ebba997552770a76142ba59815e5f7a26b4bfa2cb0",
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": 49.213,
182
+ "left_eye": 45.216,
183
+ "left_front": 44.851,
184
+ "right": 43.294,
185
+ "right_eye": 44.73,
186
+ "right_front": 43.253
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
+ 14630371006555,
197
+ 14631371006555,
198
+ 14636370951000,
199
+ 14637370939888,
200
+ 14638370951000,
201
+ 14639370951000,
202
+ 14642370962111,
203
+ 14643371006555,
204
+ 14646370962111,
205
+ 14647371006555,
206
+ 14649370951000,
207
+ 14650370973222,
208
+ 14654371028777,
209
+ 14655370962111,
210
+ 14660371017666,
211
+ 14661370962111,
212
+ 14664370951000,
213
+ 14665371039888,
214
+ 14666370973222,
215
+ 14669371006555,
216
+ 14670371095444,
217
+ 14673370984333,
218
+ 14674371006555,
219
+ 14678370951000,
220
+ 14679371028777,
221
+ 14683371017666,
222
+ 14684370939888,
223
+ 14688371017666,
224
+ 14689370962111,
225
+ 14690370962111,
226
+ 14696370962111,
227
+ 14697371006555,
228
+ 14698370962111,
229
+ 14702370951000,
230
+ 14703370951000,
231
+ 14707370984333,
232
+ 14708370962111,
233
+ 14712370973222,
234
+ 14713370951000,
235
+ 14715371006555,
236
+ 14716370951000,
237
+ 14719370973222,
238
+ 14720370995444,
239
+ 14722370995444,
240
+ 14723371006555,
241
+ 14728371028777,
242
+ 14729371017666,
243
+ 14730371095444,
244
+ 14735371006555,
245
+ 14736370973222,
246
+ 14740370995444,
247
+ 14741370939888,
248
+ 14744370984333,
249
+ 14745371139888,
250
+ 14747371028777,
251
+ 14748370962111
252
+ ]
253
+ },
254
+ "version": 1
255
+ }
actions/locomanipulation/LM37/session_001/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:16aacc62079d274f800a012a340d7ae172815c2cfa00fedf03e7da971126177e
3
+ size 714794
actions/locomanipulation/LM37/session_001/meta.json CHANGED
@@ -527,5 +527,9 @@
527
  "family": "locomanipulation",
528
  "primitive": "LM37",
529
  "source_session": "20260915/LM37/20260915_044509_session52"
 
 
 
 
530
  }
531
  }
 
527
  "family": "locomanipulation",
528
  "primitive": "LM37",
529
  "source_session": "20260915/LM37/20260915_044509_session52"
530
+ },
531
+ "task": {
532
+ "primitive": "LM37",
533
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
534
  }
535
  }
actions/locomanipulation/LM37/session_001/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d562a7e611584d4fed12956edd40c182176568340d68ad56bffae49a8dd7353c
3
+ size 4932166
actions/locomanipulation/LM37/session_002/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": "LM37",
6
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 128.966733,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03922390132991671
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "357884f7-3f09-4d21-9e21-eae1b6888c93",
18
+ "segment": "segment1",
19
+ "action": "LM37",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 123.396,
23
+ "t_start": 0.0392,
24
+ "t_end": 123.4352,
25
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM37/session_002/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,258 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.399
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": 1.0448,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.582,
19
+ "held_out_px_before": 4.727,
20
+ "inliers": 2373,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ 0.5908,
24
+ -0.3185,
25
+ -0.8007
26
+ ],
27
+ "split_deg": 0.0674,
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": 1.9224,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.401,
42
+ "held_out_px_before": 5.967,
43
+ "inliers": 3740,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 2.06,
47
+ -3.26,
48
+ 4.68
49
+ ],
50
+ "position_sigma_mm": 0.338,
51
+ "position_split_mm": 1.348,
52
+ "rotvec_deg": [
53
+ 0.3247,
54
+ 0.6018,
55
+ -1.7966
56
+ ],
57
+ "split_deg": 0.037,
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": 1.3276,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.743,
74
+ "held_out_px_before": 3.4,
75
+ "inliers": 1344,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.2919,
79
+ -0.2912,
80
+ -0.0932
81
+ ],
82
+ "split_deg": 0.0876,
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": 0.9823,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.437,
97
+ "held_out_px_before": 2.679,
98
+ "inliers": 3744,
99
+ "position_fitted": false,
100
+ "position_rejected": {
101
+ "position_mm": [
102
+ 6.8,
103
+ -10.61,
104
+ 4.41
105
+ ],
106
+ "position_sigma_mm": 0.415,
107
+ "position_split_mm": 7.491
108
+ },
109
+ "rotvec_deg": [
110
+ 0.7195,
111
+ -0.4904,
112
+ -0.4546
113
+ ],
114
+ "split_deg": 0.0427,
115
+ "usable": true
116
+ },
117
+ "right_front": {
118
+ "accepted": true,
119
+ "against": [
120
+ "left_front",
121
+ "left_eye",
122
+ "right_eye",
123
+ "left",
124
+ "right"
125
+ ],
126
+ "delta_deg": 1.3682,
127
+ "gate_fail": [],
128
+ "held_out_px_after": 0.36,
129
+ "held_out_px_before": 5.456,
130
+ "inliers": 3585,
131
+ "position_fitted": false,
132
+ "rotvec_deg": [
133
+ -0.3935,
134
+ -0.0509,
135
+ -1.3094
136
+ ],
137
+ "split_deg": 0.0237,
138
+ "usable": true
139
+ }
140
+ },
141
+ "code_fingerprint": "711ecf5b3dd408f8",
142
+ "device_id": "e17c9efadb69e7b1",
143
+ "factory_root_name": "e17c9efadb69e7b1",
144
+ "files": {
145
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
146
+ "sha256": "e0686eb2a4392d90060efb270bdc816f56847c8fa7a902660f5112ee5588a0bc",
147
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
148
+ },
149
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
150
+ "sha256": "e7305d9f1fb692f7c1b97a240fb67b8fb02209f0c27f41c1334c6af4c4336f17",
151
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
152
+ },
153
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
154
+ "sha256": "369ab5aa6a0bc9d26f839351da1e6a35f25478ad292849e9a2b3e7317dc9033d",
155
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
156
+ },
157
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
158
+ "sha256": "acdb42390b83b2f2408df18fa1fe024bc9b9b6e72b60e7943678f6f58ec91207",
159
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
160
+ }
161
+ },
162
+ "input_fingerprint": "d3220e05453be3bb",
163
+ "kind": "online_calibration",
164
+ "output_sha256": "833d18f47316eaecbe2c18698af1d7982d2a7d27299b8b031c2a7dbc7df69db2",
165
+ "overlap": {
166
+ "left-right": 0.501,
167
+ "left_eye-left": 0.707,
168
+ "left_eye-right": 0.671,
169
+ "left_front-left": 0.478,
170
+ "left_front-left_eye": 0.72,
171
+ "left_front-right": 0.448,
172
+ "left_front-right_eye": 0.732,
173
+ "left_front-right_front": 1.0,
174
+ "right_eye-left": 0.696,
175
+ "right_eye-left_eye": 1.0,
176
+ "right_eye-right": 0.673,
177
+ "right_front-left": 0.464,
178
+ "right_front-left_eye": 0.723,
179
+ "right_front-right": 0.466,
180
+ "right_front-right_eye": 0.734
181
+ },
182
+ "picture_change": {
183
+ "left": 48.88,
184
+ "left_eye": 45.559,
185
+ "left_front": 48.377,
186
+ "right": 45.72,
187
+ "right_eye": 46.731,
188
+ "right_front": 47.111
189
+ },
190
+ "runtime": {
191
+ "numpy": "2.4.6",
192
+ "opencv": "5.0.0",
193
+ "scipy": "1.17.1"
194
+ },
195
+ "segment": 1,
196
+ "selection": {
197
+ "overlap_captures": [
198
+ 14770874731555,
199
+ 14771874720444,
200
+ 14772874787111,
201
+ 14775874742666,
202
+ 14776874787111,
203
+ 14779874753777,
204
+ 14780874731555,
205
+ 14784874742666,
206
+ 14785874742666,
207
+ 14790874798222,
208
+ 14791874742666,
209
+ 14792874753777,
210
+ 14796874731555,
211
+ 14797874864888,
212
+ 14802874753777,
213
+ 14803874798222,
214
+ 14805874764888,
215
+ 14806874731555,
216
+ 14808874753777,
217
+ 14809874742666,
218
+ 14815874764888,
219
+ 14816874798222,
220
+ 14818874776000,
221
+ 14819874820444,
222
+ 14821874742666,
223
+ 14822874887111,
224
+ 14824874742666,
225
+ 14825874742666,
226
+ 14830874742666,
227
+ 14831874753777,
228
+ 14833874798222,
229
+ 14834874731555,
230
+ 14840874753777,
231
+ 14841874787111,
232
+ 14842874742666,
233
+ 14845874798222,
234
+ 14846874742666,
235
+ 14850874753777,
236
+ 14851874787111,
237
+ 14853874742666,
238
+ 14854874787111,
239
+ 14858874742666,
240
+ 14859874798222,
241
+ 14863874787111,
242
+ 14864874731555,
243
+ 14868874742666,
244
+ 14869874731555,
245
+ 14871874731555,
246
+ 14872874742666,
247
+ 14875874731555,
248
+ 14876874798222,
249
+ 14880874787111,
250
+ 14881874798222,
251
+ 14884874731555,
252
+ 14885874776000,
253
+ 14886874776000,
254
+ 14887874820444
255
+ ]
256
+ },
257
+ "version": 1
258
+ }
actions/locomanipulation/LM37/session_002/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ef65e53f8267d5ee7a785041a1a5e1176108747015a1d4836719185e9a08d73e
3
+ size 742431
actions/locomanipulation/LM37/session_002/meta.json CHANGED
@@ -537,5 +537,9 @@
537
  "family": "locomanipulation",
538
  "primitive": "LM37",
539
  "source_session": "20260915/LM37/20260915_044727_session53"
 
 
 
 
540
  }
541
  }
 
537
  "family": "locomanipulation",
538
  "primitive": "LM37",
539
  "source_session": "20260915/LM37/20260915_044727_session53"
540
+ },
541
+ "task": {
542
+ "primitive": "LM37",
543
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
544
  }
545
  }
actions/locomanipulation/LM37/session_002/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f3e6cb60bb7d0ecbdd381f0ba25ae292c9deef1c64b242d28e7f5c80e70ead26
3
+ size 5064787
actions/locomanipulation/LM37/session_003/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": "LM37",
6
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 143.966711,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.038492307923039704
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "855d2d4e-e70e-4a98-a7ab-8fc61fadadd7",
18
+ "segment": "segment1",
19
+ "action": "LM37",
20
+ "quality": "valid",
21
+ "start_s": 0,
22
+ "end_s": 136.58,
23
+ "t_start": 0.0385,
24
+ "t_end": 136.6185,
25
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM37/session_003/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,257 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.403
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": 0.9565,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.608,
19
+ "held_out_px_before": 4.558,
20
+ "inliers": 2208,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ 0.4688,
24
+ -0.3232,
25
+ -0.7686
26
+ ],
27
+ "split_deg": 0.1756,
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": 1.911,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.507,
42
+ "held_out_px_before": 5.876,
43
+ "inliers": 3526,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 5.42,
47
+ -15.33,
48
+ 5.07
49
+ ],
50
+ "position_sigma_mm": 0.287,
51
+ "position_split_mm": 2.282,
52
+ "rotvec_deg": [
53
+ 0.0454,
54
+ 0.5954,
55
+ -1.8153
56
+ ],
57
+ "split_deg": 0.0439,
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": 1.1592,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.88,
74
+ "held_out_px_before": 3.269,
75
+ "inliers": 1427,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.0781,
79
+ -0.2952,
80
+ -0.3072
81
+ ],
82
+ "split_deg": 0.2171,
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": 0.7232,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.433,
97
+ "held_out_px_before": 2.86,
98
+ "inliers": 3918,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 6.79,
102
+ -16.16,
103
+ 5.4
104
+ ],
105
+ "position_sigma_mm": 0.278,
106
+ "position_split_mm": 3.987,
107
+ "rotvec_deg": [
108
+ 0.2864,
109
+ -0.4696,
110
+ -0.4695
111
+ ],
112
+ "split_deg": 0.0949,
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": 1.3734,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.355,
127
+ "held_out_px_before": 5.244,
128
+ "inliers": 3829,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ -0.3787,
132
+ 0.0072,
133
+ -1.3202
134
+ ],
135
+ "split_deg": 0.0289,
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": "a60eadec7067f3d32393af5b3a8d1601f546f2fa6c87b9e4f68d584c226b1c8c",
145
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "71bec381cfc2e28f4293e65fbf7e8f561fe9b797324813f49a93f626ae742b1c",
149
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "9d88c97f095cd70fbe9a5f71ce89283dd02d72012c002d27f62c0e24a95839e0",
153
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "fcba42ca0fb8e6de18c31bba507e6688437fd45d06c29f099cdf82613a19259c",
157
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
158
+ }
159
+ },
160
+ "input_fingerprint": "f89dbbfe51f4de88",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "aae4dcb1b1c84876409191a14c5b34d2bd91cb8aa04c8a2357ef70163f36e95a",
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": 47.595,
182
+ "left_eye": 46.533,
183
+ "left_front": 47.867,
184
+ "right": 44.911,
185
+ "right_eye": 45.582,
186
+ "right_front": 45.947
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
+ 14908699426111,
197
+ 14909699415000,
198
+ 14910699426111,
199
+ 14911699426111,
200
+ 14915699470555,
201
+ 14916699470555,
202
+ 14920699481666,
203
+ 14921699426111,
204
+ 14928699503888,
205
+ 14929699437222,
206
+ 14930699415000,
207
+ 14931699415000,
208
+ 14936699426111,
209
+ 14937699559444,
210
+ 14939699426111,
211
+ 14940699526111,
212
+ 14945699426111,
213
+ 14946699426111,
214
+ 14948699415000,
215
+ 14949699426111,
216
+ 14955699481666,
217
+ 14956699459444,
218
+ 14959699437222,
219
+ 14960699515000,
220
+ 14965699448333,
221
+ 14966699415000,
222
+ 14967699426111,
223
+ 14971699426111,
224
+ 14972699415000,
225
+ 14975699426111,
226
+ 14976699459444,
227
+ 14982699503888,
228
+ 14983699470555,
229
+ 14986699437222,
230
+ 14987699426111,
231
+ 14992699415000,
232
+ 14993699470555,
233
+ 14997699415000,
234
+ 14998699415000,
235
+ 15000699437222,
236
+ 15001699470555,
237
+ 15006699426111,
238
+ 15007699470555,
239
+ 15009699415000,
240
+ 15010699426111,
241
+ 15012699426111,
242
+ 15013699481666,
243
+ 15017699437222,
244
+ 15018699459444,
245
+ 15021699415000,
246
+ 15022699526111,
247
+ 15030699437222,
248
+ 15031699415000,
249
+ 15032699426111,
250
+ 15037699426111,
251
+ 15038699437222,
252
+ 15043699437222,
253
+ 15044699437222
254
+ ]
255
+ },
256
+ "version": 1
257
+ }
actions/locomanipulation/LM37/session_003/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c8d6115d801260c34ca7a631747c8b42dadac17ea78a3c999c46e7a7fdc19c2b
3
+ size 828375
actions/locomanipulation/LM37/session_003/meta.json CHANGED
@@ -523,5 +523,9 @@
523
  "family": "locomanipulation",
524
  "primitive": "LM37",
525
  "source_session": "20260915/LM37/20260915_044946_session54"
 
 
 
 
526
  }
527
  }
 
523
  "family": "locomanipulation",
524
  "primitive": "LM37",
525
  "source_session": "20260915/LM37/20260915_044946_session54"
526
+ },
527
+ "task": {
528
+ "primitive": "LM37",
529
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
530
  }
531
  }
actions/locomanipulation/LM37/session_003/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d56d293280a2f96303c1b57239fc084f2587fdbc697ff94640e913356de2dd53
3
+ size 5721239
actions/locomanipulation/LM37/session_004/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": "LM37",
6
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 132.899989,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03984154534205725
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "311751ca-14cc-4e0e-ad85-ba6deaec0093",
18
+ "segment": "segment1",
19
+ "action": "LM37",
20
+ "quality": "valid",
21
+ "start_s": 1,
22
+ "end_s": 130.623,
23
+ "t_start": 1.0398,
24
+ "t_end": 130.6628,
25
+ "instruction": "Carry the handheld device and, while walking, point it at the labels on the shelves and press the button as if scanning them."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM37/session_004/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,250 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.362
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": 1.6092,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.525,
19
+ "held_out_px_before": 10.541,
20
+ "inliers": 2002,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ -1.5137,
24
+ -0.1312,
25
+ -0.53
26
+ ],
27
+ "split_deg": 0.162,
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": 2.4379,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.415,
42
+ "held_out_px_before": 12.277,
43
+ "inliers": 3336,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 0.42,
47
+ -26.52,
48
+ -1.87
49
+ ],
50
+ "position_sigma_mm": 0.069,
51
+ "position_split_mm": 0.516,
52
+ "rotvec_deg": [
53
+ 1.5728,
54
+ -0.8054,
55
+ 1.6795
56
+ ],
57
+ "split_deg": 0.0472,
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": 3.5923,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 1.06,
74
+ "held_out_px_before": 12.158,
75
+ "inliers": 1017,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.7004,
79
+ -0.9533,
80
+ 3.0173
81
+ ],
82
+ "split_deg": 0.5805,
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": 3.0521,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.374,
97
+ "held_out_px_before": 5.056,
98
+ "inliers": 3429,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ -0.09,
102
+ -24.83,
103
+ 0.21
104
+ ],
105
+ "position_sigma_mm": 0.062,
106
+ "position_split_mm": 0.137,
107
+ "rotvec_deg": [
108
+ 1.6673,
109
+ -1.092,
110
+ 2.3115
111
+ ],
112
+ "split_deg": 0.0157,
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": 0.4188,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.315,
127
+ "held_out_px_before": 2.378,
128
+ "inliers": 5521,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ 0.2027,
132
+ -0.3648,
133
+ 0.0349
134
+ ],
135
+ "split_deg": 0.0152,
136
+ "usable": true
137
+ }
138
+ },
139
+ "code_fingerprint": "711ecf5b3dd408f8",
140
+ "device_id": "c9205ac6e17d2d5c",
141
+ "factory_root_name": "c9205ac6e17d2d5c",
142
+ "files": {
143
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
144
+ "sha256": "cb1550a7d300c11d6d19a1c082cb20fe1865312fd1163ee59d5bbefb874b6cdc",
145
+ "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "7ee69820fc8d7bcce71595224458ea988caa88501be8651befb2068794a64b98",
149
+ "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "9a7fea2b933bdd01650abf8e74016c7d6475d216d421d3e0af78dc8b69cf42f8",
153
+ "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "922221e4d9e60ab4eb6ea09fc82b67264afef012ab7a5c46eb719e6a4bb72139",
157
+ "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
158
+ }
159
+ },
160
+ "input_fingerprint": "bcdf97b9c5fa7611",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "f240f2f7a3c3a8bff970c7b18ff967b6aa48bd0bec61711495a30ba66c4fffa3",
163
+ "overlap": {
164
+ "left-right": 0.5,
165
+ "left_eye-left": 0.695,
166
+ "left_eye-right": 0.702,
167
+ "left_front-left": 0.506,
168
+ "left_front-left_eye": 0.692,
169
+ "left_front-right": 0.458,
170
+ "left_front-right_eye": 0.698,
171
+ "left_front-right_front": 1.0,
172
+ "right_eye-left": 0.699,
173
+ "right_eye-left_eye": 1.0,
174
+ "right_eye-right": 0.706,
175
+ "right_front-left": 0.49,
176
+ "right_front-left_eye": 0.697,
177
+ "right_front-right": 0.464,
178
+ "right_front-right_eye": 0.704
179
+ },
180
+ "picture_change": {
181
+ "left": 43.633,
182
+ "left_eye": 41.901,
183
+ "left_front": 48.333,
184
+ "right": 43.058,
185
+ "right_eye": 43.85,
186
+ "right_front": 47.438
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
+ 4357249219888,
197
+ 4358249075444,
198
+ 4361249153222,
199
+ 4362249231000,
200
+ 4363249153222,
201
+ 4364249108777,
202
+ 4365249108777,
203
+ 4367249153222,
204
+ 4368249075444,
205
+ 4369249131000,
206
+ 4371249142111,
207
+ 4372249108777,
208
+ 4373249153222,
209
+ 4375249108777,
210
+ 4376249075444,
211
+ 4377249108777,
212
+ 4378249075444,
213
+ 4379249075444,
214
+ 4380249075444,
215
+ 4381249142111,
216
+ 4382249119888,
217
+ 4383249075444,
218
+ 4384249075444,
219
+ 4385249253222,
220
+ 4386249108777,
221
+ 4387249108777,
222
+ 4389249153222,
223
+ 4390249153222,
224
+ 4391249219888,
225
+ 4392249075444,
226
+ 4394249075444,
227
+ 4395249153222,
228
+ 4397249075444,
229
+ 4398249153222,
230
+ 4399249097666,
231
+ 4400249108777,
232
+ 4401249097666,
233
+ 4402249097666,
234
+ 4403249086555,
235
+ 4405249119888,
236
+ 4406249086555,
237
+ 4407249108777,
238
+ 4408249164333,
239
+ 4409249075444,
240
+ 4410249086555,
241
+ 4411249153222,
242
+ 4412249208777,
243
+ 4414249075444,
244
+ 4415249108777,
245
+ 4416249108777,
246
+ 4417249108777
247
+ ]
248
+ },
249
+ "version": 1
250
+ }
actions/locomanipulation/LM37/session_004/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:162cce9bb255e77009b2576d34fc1923063646ce051c02777a63ec51b52f2322
3
+ size 762100