Release update 2026-11-05: new sessions, instructions, annotations (part 147)
Browse files- actions/locomanipulation/LM21/session_026/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM21/session_026/motions/smplx.npz +2 -2
- actions/locomanipulation/LM21/session_027/annotations.json +28 -0
- actions/locomanipulation/LM21/session_027/cameras/gsi_online_calibration.json +251 -0
- actions/locomanipulation/LM21/session_027/cameras/slam.npz +3 -0
- actions/locomanipulation/LM21/session_027/meta.json +4 -0
- actions/locomanipulation/LM21/session_027/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM21/session_028/annotations.json +28 -0
- actions/locomanipulation/LM21/session_028/cameras/gsi_online_calibration.json +254 -0
- actions/locomanipulation/LM21/session_028/cameras/slam.npz +3 -0
- actions/locomanipulation/LM21/session_028/meta.json +116 -2
- actions/locomanipulation/LM21/session_028/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM21/session_028/motions/smplx.npz +2 -2
- actions/locomanipulation/LM21/session_029/annotations.json +28 -0
- actions/locomanipulation/LM21/session_029/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM21/session_029/cameras/slam.npz +3 -0
- actions/locomanipulation/LM21/session_029/meta.json +116 -2
- actions/locomanipulation/LM21/session_029/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM21/session_029/motions/smplx.npz +2 -2
- actions/locomanipulation/LM21/session_030/annotations.json +28 -0
- actions/locomanipulation/LM21/session_030/cameras/gsi_online_calibration.json +255 -0
actions/locomanipulation/LM21/session_026/motions/hands_mano.npz
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actions/locomanipulation/LM21/session_026/motions/smplx.npz
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actions/locomanipulation/LM21/session_027/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": "LM21",
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"instruction": "Carry the box straight from one end of the room to the other, set it down, 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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"episodes": [
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{
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"id": "d1aa7744-5ea1-4d42-ba12-07b570ad92d9",
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"segment": "segment1",
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"action": "LM21",
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"quality": "valid",
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"start_s": 1.257,
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"instruction": "Carry the box straight from one end of the room to the other, set it down, 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/LM21/session_027/cameras/gsi_online_calibration.json
ADDED
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| 588 |
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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",
|
| 5 |
+
"primitive": "LM21",
|
| 6 |
+
"instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 109.133411,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.040003413457897916
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "fe70becc-821c-4d80-b229-d8dc3e191a24",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM21",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.294,
|
| 22 |
+
"end_s": 100.846,
|
| 23 |
+
"t_start": 1.334,
|
| 24 |
+
"t_end": 100.886,
|
| 25 |
+
"instruction": "Carry the box straight from one end of the room to the other, set it down, 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 |
+
}
|
actions/locomanipulation/LM21/session_029/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.393
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
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"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
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"right"
|
| 16 |
+
],
|
| 17 |
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"delta_deg": 2.4828,
|
| 18 |
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"gate_fail": [],
|
| 19 |
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"held_out_px_after": 0.522,
|
| 20 |
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"held_out_px_before": 7.015,
|
| 21 |
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"inliers": 2834,
|
| 22 |
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"position_fitted": false,
|
| 23 |
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"rotvec_deg": [
|
| 24 |
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|
| 25 |
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|
| 26 |
+
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|
| 27 |
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],
|
| 28 |
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"split_deg": 0.0628,
|
| 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 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"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": 0.7985,
|
| 41 |
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"gate_fail": [],
|
| 42 |
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"held_out_px_after": 0.539,
|
| 43 |
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"held_out_px_before": 3.1,
|
| 44 |
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"inliers": 3014,
|
| 45 |
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"position_fitted": true,
|
| 46 |
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"position_mm": [
|
| 47 |
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-0.16,
|
| 48 |
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-12.17,
|
| 49 |
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1.42
|
| 50 |
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],
|
| 51 |
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|
| 52 |
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|
| 53 |
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"rotvec_deg": [
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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],
|
| 58 |
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"split_deg": 0.0766,
|
| 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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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 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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|
| 92 |
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|
| 93 |
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"left",
|
| 94 |
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|
| 95 |
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],
|
| 96 |
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|
| 97 |
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|
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|
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|
| 100 |
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|
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|
| 102 |
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|
| 103 |
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|
| 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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|
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|
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|
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|
| 114 |
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|
| 115 |
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|
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| 118 |
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|
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| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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"left",
|
| 124 |
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"right"
|
| 125 |
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],
|
| 126 |
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|
| 127 |
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|
| 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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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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],
|
| 137 |
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"split_deg": 0.0062,
|
| 138 |
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|
| 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 |
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"factory_root_name": "e3296774a321bb51",
|
| 144 |
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"files": {
|
| 145 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
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"sha256": "79ff188a81924f216d9652c4a5ce88191ccd73bba0bf5610e2b399bdd412ba2f",
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|
| 148 |
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},
|
| 149 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
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"sha256": "737fc28b62a02a6d2ffc9886e36493216b4ccb40fb9c106d1fa342ec8476e4d5",
|
| 151 |
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|
| 152 |
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},
|
| 153 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
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"sha256": "b7a64f808b84bfad75c03e51650722b233cc7138c43fc78c2ddbf0356527dff9",
|
| 155 |
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|
| 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": "7c9050dfc58d362d07ce0baf20364e75f8e35fef848bae485c6eb09053fe7eae",
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| 160 |
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}
|
| 161 |
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},
|
| 162 |
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"input_fingerprint": "f04692eb6215afae",
|
| 163 |
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"kind": "online_calibration",
|
| 164 |
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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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|
| 175 |
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|
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|
| 177 |
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|
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|
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|
| 180 |
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|
| 181 |
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},
|
| 182 |
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|
| 183 |
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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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|
| 244 |
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|
| 245 |
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| 252 |
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| 253 |
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|
| 254 |
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|
| 255 |
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"version": 1
|
| 256 |
+
}
|
actions/locomanipulation/LM21/session_029/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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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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size 625015
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actions/locomanipulation/LM21/session_029/meta.json
CHANGED
|
@@ -372,8 +372,8 @@
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|
| 372 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 373 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 374 |
"hands": {
|
| 375 |
-
"observed":
|
| 376 |
-
"hand_pose": "
|
| 377 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 378 |
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|
| 379 |
"left": {
|
|
@@ -518,12 +518,126 @@
|
|
| 518 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 519 |
}
|
| 520 |
},
|
|
|
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|
|
|
|
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| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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|
| 527 |
"objects": [
|
| 528 |
{
|
| 529 |
"name": "BigBox",
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|
| 372 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 373 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 374 |
"hands": {
|
| 375 |
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"observed": true,
|
| 376 |
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"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 377 |
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|
| 378 |
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|
| 379 |
"left": {
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|
|
|
| 518 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 519 |
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|
| 520 |
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|
| 521 |
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|
| 522 |
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|
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|
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},
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|
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"wrist_pos_err_mm_median": 61.6,
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"per_camera": {
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"accepted": 2360,
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|
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"tier": "primary",
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"wrist_pos_err_mm_median": 61.6
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}
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},
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},
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"observed_fraction": 0.9841,
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|
| 560 |
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},
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"median": 15.3,
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},
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| 566 |
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"registered": {
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"median": 14.0,
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"p90": 17.6
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"right": {
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],
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"dev_deg": {
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"median": 48.91,
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"p90": 88.72
|
| 582 |
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},
|
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"samples": 1944,
|
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"accepted": 391,
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"per_camera": {
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"head": {
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"samples": 1944,
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"accepted": 391,
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"gate_deg": 30.0,
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"offset_deg": 44.34,
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"tier": "primary",
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"dev_deg_median": 48.91,
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"wrist_pos_err_mm_median": 159.4
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}
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},
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|
| 625 |
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],
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| 626 |
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"generated_at_utc": "2026-11-03T20:13:11.337620+00:00",
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| 627 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 628 |
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"conventions": "left hand native left MANO (no mirroring); hand_pose = axis_angle(GSI hand_pose), already absolute (flat_hand_mean=True); SMPL-X wrist kept, tracker wrist only for checks",
|
| 629 |
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"wrist_flip_suspect": []
|
| 630 |
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|
| 631 |
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|
| 632 |
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| 633 |
"family": "locomanipulation",
|
| 634 |
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|
| 635 |
"source_session": "20261021/LM21/20261021_050651_session64"
|
| 636 |
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|
| 637 |
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"task": {
|
| 638 |
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"primitive": "LM21",
|
| 639 |
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"instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 640 |
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},
|
| 641 |
"objects": [
|
| 642 |
{
|
| 643 |
"name": "BigBox",
|
actions/locomanipulation/LM21/session_029/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3082991
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actions/locomanipulation/LM21/session_029/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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| 3 |
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size
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| 1 |
version https://git-lfs.github.com/spec/v1
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size 7762323
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actions/locomanipulation/LM21/session_030/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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|
|
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|
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|
| 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": "LM21",
|
| 6 |
+
"instruction": "Carry the box straight from one end of the room to the other, set it down, then bring it back. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
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"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
| 10 |
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"duration_s": 112.7166,
|
| 11 |
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"video": "left_eye",
|
| 12 |
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"video_t_start": 0.040007776520100125
|
| 13 |
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}
|
| 14 |
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],
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| 15 |
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"episodes": [
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{
|
| 17 |
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"id": "060c6da4-a2cd-4442-951b-4778f1b12159",
|
| 18 |
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"segment": "segment1",
|
| 19 |
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"action": "LM21",
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| 20 |
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"quality": "valid",
|
| 21 |
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"start_s": 1.072,
|
| 22 |
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"end_s": 106.142,
|
| 23 |
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"t_start": 1.112,
|
| 24 |
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"t_end": 106.182,
|
| 25 |
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"instruction": "Carry the box straight from one end of the room to the other, set it down, 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 |
+
}
|
actions/locomanipulation/LM21/session_030/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,255 @@
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