Release update 2026-11-05: new sessions, instructions, annotations (part 280)
Browse files- actions/locomanipulation/LM31/session_015/annotations.json +28 -0
- actions/locomanipulation/LM31/session_015/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM31/session_015/cameras/slam.npz +3 -0
- actions/locomanipulation/LM31/session_015/meta.json +4 -0
- actions/locomanipulation/LM31/session_015/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM31/session_016/annotations.json +28 -0
- actions/locomanipulation/LM31/session_016/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM31/session_016/cameras/slam.npz +3 -0
- actions/locomanipulation/LM31/session_016/meta.json +4 -0
- actions/locomanipulation/LM31/session_016/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM31/session_017/annotations.json +28 -0
- actions/locomanipulation/LM31/session_017/cameras/gsi_online_calibration.json +228 -0
- actions/locomanipulation/LM31/session_017/cameras/slam.npz +3 -0
- actions/locomanipulation/LM31/session_017/meta.json +4 -0
- actions/locomanipulation/LM31/session_017/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM31/session_018/annotations.json +28 -0
- actions/locomanipulation/LM31/session_018/cameras/gsi_online_calibration.json +246 -0
- actions/locomanipulation/LM31/session_018/cameras/slam.npz +3 -0
- actions/locomanipulation/LM31/session_018/meta.json +4 -0
- actions/locomanipulation/LM31/session_018/motions/hands_mano.npz +3 -0
actions/locomanipulation/LM31/session_015/annotations.json
ADDED
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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": "LM31",
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"instruction": "Carry the box over the low sill without stopping, then bring it back over. 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": 105.966667,
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"video": "left_eye",
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| 12 |
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"video_t_start": 0.03932765951584659
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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": "ba3c7525-2d42-4f8a-a933-c3b88fc2197c",
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"segment": "segment1",
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"action": "LM31",
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| 20 |
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"quality": "valid",
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| 21 |
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"start_s": 2.92,
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| 22 |
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"end_s": 98.567,
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| 23 |
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"t_start": 2.9593,
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| 24 |
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"t_end": 98.6063,
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| 25 |
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"instruction": "Carry the box over the low sill without stopping, then bring it back over. 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/LM31/session_015/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,257 @@
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| 1 |
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{
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"camera_fit": {
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| 3 |
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"groups_dropped": [],
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| 4 |
+
"groups_used": 15,
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| 5 |
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"median_px": 0.492
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| 6 |
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},
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| 7 |
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"cameras": {
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| 8 |
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"left": {
|
| 9 |
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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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| 12 |
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"right_front",
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| 13 |
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"left_eye",
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| 14 |
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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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],
|
| 17 |
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"delta_deg": 2.2263,
|
| 18 |
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"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.719,
|
| 20 |
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"held_out_px_before": 12.31,
|
| 21 |
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"inliers": 2217,
|
| 22 |
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"position_fitted": false,
|
| 23 |
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"rotvec_deg": [
|
| 24 |
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1.4469,
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| 25 |
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-1.379,
|
| 26 |
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0.9804
|
| 27 |
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],
|
| 28 |
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"split_deg": 0.0852,
|
| 29 |
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"usable": true
|
| 30 |
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},
|
| 31 |
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"left_eye": {
|
| 32 |
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"accepted": true,
|
| 33 |
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"against": [
|
| 34 |
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"left_front",
|
| 35 |
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"right_front",
|
| 36 |
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"right_eye",
|
| 37 |
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"left",
|
| 38 |
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"right"
|
| 39 |
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],
|
| 40 |
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"delta_deg": 0.7926,
|
| 41 |
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"gate_fail": [],
|
| 42 |
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"held_out_px_after": 0.613,
|
| 43 |
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"held_out_px_before": 3.978,
|
| 44 |
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"inliers": 2106,
|
| 45 |
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"position_fitted": true,
|
| 46 |
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"position_mm": [
|
| 47 |
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1.64,
|
| 48 |
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-13.38,
|
| 49 |
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6.38
|
| 50 |
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],
|
| 51 |
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"position_sigma_mm": 0.261,
|
| 52 |
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"position_split_mm": 1.241,
|
| 53 |
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"rotvec_deg": [
|
| 54 |
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0.0329,
|
| 55 |
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-0.2283,
|
| 56 |
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0.7583
|
| 57 |
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],
|
| 58 |
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"split_deg": 0.0412,
|
| 59 |
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"usable": true
|
| 60 |
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},
|
| 61 |
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"left_front": {
|
| 62 |
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"role": "rig origin"
|
| 63 |
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},
|
| 64 |
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"right": {
|
| 65 |
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"accepted": true,
|
| 66 |
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"against": [
|
| 67 |
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"left_front",
|
| 68 |
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"right_front",
|
| 69 |
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"left_eye",
|
| 70 |
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"right_eye",
|
| 71 |
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"left"
|
| 72 |
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],
|
| 73 |
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"delta_deg": 3.7062,
|
| 74 |
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"gate_fail": [],
|
| 75 |
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"held_out_px_after": 0.683,
|
| 76 |
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"held_out_px_before": 9.152,
|
| 77 |
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"inliers": 2311,
|
| 78 |
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"position_fitted": false,
|
| 79 |
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"rotvec_deg": [
|
| 80 |
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2.2511,
|
| 81 |
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-1.1487,
|
| 82 |
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2.7109
|
| 83 |
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],
|
| 84 |
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"split_deg": 0.0537,
|
| 85 |
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"usable": true
|
| 86 |
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},
|
| 87 |
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"right_eye": {
|
| 88 |
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"accepted": true,
|
| 89 |
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"against": [
|
| 90 |
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"left_front",
|
| 91 |
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"right_front",
|
| 92 |
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"left_eye",
|
| 93 |
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"left",
|
| 94 |
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"right"
|
| 95 |
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],
|
| 96 |
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"delta_deg": 1.9098,
|
| 97 |
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"gate_fail": [],
|
| 98 |
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"held_out_px_after": 0.481,
|
| 99 |
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"held_out_px_before": 4.937,
|
| 100 |
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"inliers": 3021,
|
| 101 |
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"position_fitted": true,
|
| 102 |
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"position_mm": [
|
| 103 |
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1.76,
|
| 104 |
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-11.41,
|
| 105 |
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6.42
|
| 106 |
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],
|
| 107 |
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"position_sigma_mm": 0.251,
|
| 108 |
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"position_split_mm": 1.235,
|
| 109 |
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"rotvec_deg": [
|
| 110 |
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0.4608,
|
| 111 |
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-0.8746,
|
| 112 |
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1.6341
|
| 113 |
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],
|
| 114 |
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"split_deg": 0.0124,
|
| 115 |
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"usable": true
|
| 116 |
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},
|
| 117 |
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"right_front": {
|
| 118 |
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"accepted": true,
|
| 119 |
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"against": [
|
| 120 |
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"left_front",
|
| 121 |
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"left_eye",
|
| 122 |
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"right_eye",
|
| 123 |
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"left",
|
| 124 |
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"right"
|
| 125 |
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],
|
| 126 |
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"delta_deg": 0.8848,
|
| 127 |
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"gate_fail": [],
|
| 128 |
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"held_out_px_after": 0.441,
|
| 129 |
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"held_out_px_before": 5.334,
|
| 130 |
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"inliers": 5353,
|
| 131 |
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"position_fitted": false,
|
| 132 |
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"rotvec_deg": [
|
| 133 |
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0.759,
|
| 134 |
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-0.3331,
|
| 135 |
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-0.3097
|
| 136 |
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],
|
| 137 |
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"split_deg": 0.0343,
|
| 138 |
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"usable": true
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
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"device_id": "e3296774a321bb51",
|
| 143 |
+
"factory_root_name": "e3296774a321bb51",
|
| 144 |
+
"files": {
|
| 145 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
+
"sha256": "8f5261d0c174084de4ddb336760145e75a9961e932c74ec7840561dedacc9ee0",
|
| 147 |
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"source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
|
| 148 |
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},
|
| 149 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "cab187e344d3b06877cf615bd699af4834177f13fefe8a09fc313eb0b3930a25",
|
| 151 |
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"source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
|
| 152 |
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},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
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"sha256": "b3372d0d5996b12354ead5295d91ce26876c09423e1b402598ee07dbdaff3ca1",
|
| 155 |
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"source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
|
| 156 |
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},
|
| 157 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
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"sha256": "17d5e2a5a78591784592d4f39c3f38d7a38a5e788e35e4dbc5acae8a2114cd51",
|
| 159 |
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"source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
|
| 160 |
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}
|
| 161 |
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},
|
| 162 |
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"input_fingerprint": "d0941cff08076a35",
|
| 163 |
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"kind": "online_calibration",
|
| 164 |
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"output_sha256": "7c48d8a4c4ea618d7036e875eba577e3a3a012ad35cd94eb7102d1df8bc58fbc",
|
| 165 |
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"overlap": {
|
| 166 |
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"left-right": 0.489,
|
| 167 |
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"left_eye-left": 0.684,
|
| 168 |
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"left_eye-right": 0.685,
|
| 169 |
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"left_eye-right_eye": 1.0,
|
| 170 |
+
"left_front-left": 0.466,
|
| 171 |
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"left_front-left_eye": 0.717,
|
| 172 |
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"left_front-right": 0.447,
|
| 173 |
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"left_front-right_eye": 0.72,
|
| 174 |
+
"left_front-right_front": 1.0,
|
| 175 |
+
"right_eye-left": 0.672,
|
| 176 |
+
"right_eye-right": 0.676,
|
| 177 |
+
"right_front-left": 0.469,
|
| 178 |
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"right_front-left_eye": 0.746,
|
| 179 |
+
"right_front-right": 0.472,
|
| 180 |
+
"right_front-right_eye": 0.74
|
| 181 |
+
},
|
| 182 |
+
"picture_change": {
|
| 183 |
+
"left": 38.33,
|
| 184 |
+
"left_eye": 31.916,
|
| 185 |
+
"left_front": 39.516,
|
| 186 |
+
"right": 38.824,
|
| 187 |
+
"right_eye": 32.292,
|
| 188 |
+
"right_front": 38.896
|
| 189 |
+
},
|
| 190 |
+
"runtime": {
|
| 191 |
+
"numpy": "2.4.6",
|
| 192 |
+
"opencv": "5.0.0",
|
| 193 |
+
"scipy": "1.17.1"
|
| 194 |
+
},
|
| 195 |
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actions/locomanipulation/LM31/session_015/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM31/session_015/meta.json
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actions/locomanipulation/LM31/session_016/cameras/gsi_online_calibration.json
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