Release update 2026-11-05: new sessions, instructions, annotations (part 66)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +17 -0
- actions/locomanipulation/LM49/session_019/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM49/session_019/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM49/session_019/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM49/session_019/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM49/session_019/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM49/session_019/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM49/session_019/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM49/session_019/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM49/session_019/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM49/session_019/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM49/session_019/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM49/session_019/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM49/session_019/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM49/session_019/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM49/session_019/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM50/session_001/annotations.json +28 -0
- actions/locomanipulation/LM50/session_001/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM50/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM50/session_001/meta.json +116 -2
- actions/locomanipulation/LM50/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM50/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM50/session_002/annotations.json +28 -0
- actions/locomanipulation/LM50/session_002/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM50/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM50/session_002/meta.json +116 -2
- actions/locomanipulation/LM50/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM50/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM50/session_003/annotations.json +28 -0
- actions/locomanipulation/LM50/session_003/cameras/gsi_online_calibration.json +265 -0
- actions/locomanipulation/LM50/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM50/session_003/meta.json +116 -8
- actions/locomanipulation/LM50/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM50/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM50/session_004/annotations.json +28 -0
- actions/locomanipulation/LM50/session_004/cameras/gsi_online_calibration.json +267 -0
- actions/locomanipulation/LM50/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM50/session_004/meta.json +116 -2
- actions/locomanipulation/LM50/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM50/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM50/session_005/annotations.json +28 -0
- actions/locomanipulation/LM50/session_005/cameras/gsi_online_calibration.json +206 -0
- actions/locomanipulation/LM50/session_005/cameras/slam.npz +3 -0
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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": "LM50",
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"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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|
actions/locomanipulation/LM50/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:c9f83113d6c9d0694822abe052191e2977349d6a6762380bf275e9593595f26d
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| 3 |
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size 860347
|
actions/locomanipulation/LM50/session_001/meta.json
CHANGED
|
@@ -325,8 +325,8 @@
|
|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
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|
| 328 |
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"observed":
|
| 329 |
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"hand_pose": "
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
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|
| 332 |
"left": {
|
|
@@ -510,10 +510,124 @@
|
|
| 510 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 511 |
"remaining_gyro_frame_deg": 0.906232668877494
|
| 512 |
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|
|
|
|
|
|
|
|
|
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| 513 |
"release": {
|
| 514 |
"release_path": "actions/locomanipulation/LM50/session_001",
|
| 515 |
"family": "locomanipulation",
|
| 516 |
"primitive": "LM50",
|
| 517 |
"source_session": "20260915/LM50/20260915_073553_session86"
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|
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|
| 518 |
}
|
| 519 |
}
|
|
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|
| 325 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 326 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 327 |
"hands": {
|
| 328 |
+
"observed": true,
|
| 329 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 330 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 331 |
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|
| 332 |
"left": {
|
|
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|
| 510 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 511 |
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|
| 512 |
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|
| 513 |
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|
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| 516 |
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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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| 539 |
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"median": 11.73,
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"p90": 23.51
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},
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"samples": 4257,
|
| 576 |
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"accepted": 4048,
|
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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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"cameras_used": [
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"head"
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],
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"generated_at_utc": "2026-11-03T20:17:31.033067+00:00",
|
| 619 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 620 |
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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",
|
| 621 |
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"wrist_flip_suspect": []
|
| 622 |
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},
|
| 623 |
"release": {
|
| 624 |
"release_path": "actions/locomanipulation/LM50/session_001",
|
| 625 |
"family": "locomanipulation",
|
| 626 |
"primitive": "LM50",
|
| 627 |
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| 628 |
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},
|
| 629 |
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"task": {
|
| 630 |
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"primitive": "LM50",
|
| 631 |
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"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 632 |
}
|
| 633 |
}
|
actions/locomanipulation/LM50/session_001/motions/hands_mano.npz
ADDED
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size 5742730
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actions/locomanipulation/LM50/session_001/motions/smplx.npz
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 12798190
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actions/locomanipulation/LM50/session_002/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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| 1 |
+
{
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| 2 |
+
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|
| 3 |
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"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
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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",
|
| 5 |
+
"primitive": "LM50",
|
| 6 |
+
"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
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"id": "segment1",
|
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|
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|
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}
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],
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"episodes": [
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{
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| 17 |
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"id": "914a2537-12cc-4a3e-93a2-d02bf7af9fa0",
|
| 18 |
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"segment": "segment1",
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| 19 |
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"action": "LM50",
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| 20 |
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"quality": "valid",
|
| 21 |
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|
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|
| 23 |
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"t_start": 0.0392,
|
| 24 |
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"t_end": 147.9232,
|
| 25 |
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"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM50/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,255 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
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"median_px": 0.471
|
| 6 |
+
},
|
| 7 |
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"cameras": {
|
| 8 |
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"left": {
|
| 9 |
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"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
+
"left_front",
|
| 12 |
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"right_front",
|
| 13 |
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"left_eye",
|
| 14 |
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"right_eye"
|
| 15 |
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],
|
| 16 |
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"delta_deg": 0.7448,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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|
| 19 |
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"held_out_px_before": 4.2,
|
| 20 |
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"inliers": 2194,
|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
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|
| 24 |
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|
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|
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|
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|
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|
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"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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| 634 |
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|
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|
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|
| 26 |
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}
|
| 27 |
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| 28 |
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actions/locomanipulation/LM50/session_003/cameras/gsi_online_calibration.json
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{
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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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": "LM50",
|
| 6 |
+
"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. 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": 155.133344,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.055930565175601174
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "58125410-4a7f-4b26-beae-36b126bb2e84",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM50",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1,
|
| 22 |
+
"end_s": 152.837,
|
| 23 |
+
"t_start": 1.0559,
|
| 24 |
+
"t_end": 152.8929,
|
| 25 |
+
"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM50/session_004/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,267 @@
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
+
{
|
| 5 |
+
"matches": 43,
|
| 6 |
+
"median_px": 3.41,
|
| 7 |
+
"pair": [
|
| 8 |
+
"left",
|
| 9 |
+
"right"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"groups_used": 14,
|
| 14 |
+
"median_px": 0.448
|
| 15 |
+
},
|
| 16 |
+
"cameras": {
|
| 17 |
+
"left": {
|
| 18 |
+
"accepted": true,
|
| 19 |
+
"against": [
|
| 20 |
+
"left_front",
|
| 21 |
+
"right_front",
|
| 22 |
+
"left_eye",
|
| 23 |
+
"right_eye"
|
| 24 |
+
],
|
| 25 |
+
"delta_deg": 1.5591,
|
| 26 |
+
"gate_fail": [],
|
| 27 |
+
"held_out_px_after": 0.66,
|
| 28 |
+
"held_out_px_before": 15.908,
|
| 29 |
+
"inliers": 1745,
|
| 30 |
+
"position_fitted": false,
|
| 31 |
+
"rotvec_deg": [
|
| 32 |
+
-1.3786,
|
| 33 |
+
-0.1544,
|
| 34 |
+
-0.7117
|
| 35 |
+
],
|
| 36 |
+
"split_deg": 0.0388,
|
| 37 |
+
"usable": true
|
| 38 |
+
},
|
| 39 |
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"left_eye": {
|
| 40 |
+
"accepted": true,
|
| 41 |
+
"against": [
|
| 42 |
+
"left_front",
|
| 43 |
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"right_front",
|
| 44 |
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"right_eye",
|
| 45 |
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"left",
|
| 46 |
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"right"
|
| 47 |
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],
|
| 48 |
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"delta_deg": 2.5105,
|
| 49 |
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"gate_fail": [],
|
| 50 |
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"held_out_px_after": 0.792,
|
| 51 |
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"held_out_px_before": 13.468,
|
| 52 |
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"inliers": 2393,
|
| 53 |
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"position_fitted": true,
|
| 54 |
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"position_mm": [
|
| 55 |
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1.14,
|
| 56 |
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-27.04,
|
| 57 |
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-0.98
|
| 58 |
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],
|
| 59 |
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"position_sigma_mm": 0.141,
|
| 60 |
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"position_split_mm": 1.491,
|
| 61 |
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"rotvec_deg": [
|
| 62 |
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|
| 63 |
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-0.861,
|
| 64 |
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|
| 65 |
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],
|
| 66 |
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"split_deg": 0.1198,
|
| 67 |
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"usable": true
|
| 68 |
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},
|
| 69 |
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"left_front": {
|
| 70 |
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"role": "rig origin"
|
| 71 |
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},
|
| 72 |
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"right": {
|
| 73 |
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"accepted": true,
|
| 74 |
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"against": [
|
| 75 |
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"left_front",
|
| 76 |
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"right_front",
|
| 77 |
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"left_eye",
|
| 78 |
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"right_eye"
|
| 79 |
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],
|
| 80 |
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"delta_deg": 3.2184,
|
| 81 |
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"gate_fail": [],
|
| 82 |
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"held_out_px_after": 0.932,
|
| 83 |
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|
| 84 |
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"inliers": 1072,
|
| 85 |
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"position_fitted": false,
|
| 86 |
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"rotvec_deg": [
|
| 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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},
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"left",
|
| 101 |
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"right"
|
| 102 |
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],
|
| 103 |
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"delta_deg": 3.0565,
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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-24.08,
|
| 112 |
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|
| 113 |
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],
|
| 114 |
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"position_sigma_mm": 0.13,
|
| 115 |
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"position_split_mm": 0.408,
|
| 116 |
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"rotvec_deg": [
|
| 117 |
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1.681,
|
| 118 |
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|
| 119 |
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|
| 120 |
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],
|
| 121 |
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"split_deg": 0.0209,
|
| 122 |
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"usable": true
|
| 123 |
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},
|
| 124 |
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"right_front": {
|
| 125 |
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"accepted": true,
|
| 126 |
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"against": [
|
| 127 |
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"left_front",
|
| 128 |
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"left_eye",
|
| 129 |
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"right_eye",
|
| 130 |
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"left",
|
| 131 |
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"right"
|
| 132 |
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],
|
| 133 |
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"delta_deg": 0.4327,
|
| 134 |
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"gate_fail": [],
|
| 135 |
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|
| 136 |
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"held_out_px_before": 2.777,
|
| 137 |
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"inliers": 3637,
|
| 138 |
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|
| 139 |
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"rotvec_deg": [
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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],
|
| 144 |
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"split_deg": 0.0276,
|
| 145 |
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"usable": true
|
| 146 |
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}
|
| 147 |
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},
|
| 148 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 149 |
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"device_id": "c9205ac6e17d2d5c",
|
| 150 |
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"factory_root_name": "c9205ac6e17d2d5c",
|
| 151 |
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"files": {
|
| 152 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 153 |
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"sha256": "8aa29caf81a5a9fe620098dad87d16c43259138494735fe769b72c40b53446b7",
|
| 154 |
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"source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
|
| 155 |
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},
|
| 156 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 157 |
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"sha256": "83dd1055de91214cad58d71a31f8808c8d8d6aa5bb23a86088242beafac59d69",
|
| 158 |
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|
| 159 |
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},
|
| 160 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 161 |
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"sha256": "b9e843723e037f7edaff71ca10f5c4769ecd28a62a788f27dfa0b17bd4ef1692",
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|
| 163 |
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},
|
| 164 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 165 |
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"sha256": "e21c2a0ec8cb8d28d9eccffa593e17900b0459d2f921727ced52806ff8951721",
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}
|
| 168 |
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},
|
| 169 |
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"input_fingerprint": "ac517dc9109e40e2",
|
| 170 |
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|
| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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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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|
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|
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|
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actions/locomanipulation/LM50/session_004/cameras/slam.npz
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version https://git-lfs.github.com/spec/v1
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CHANGED
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@@ -380,8 +380,8 @@
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| 380 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
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| 381 |
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| 382 |
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|
@@ -527,12 +527,126 @@
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| 527 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
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|
| 529 |
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|
| 380 |
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| 381 |
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| 382 |
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| 527 |
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| 637 |
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|
| 645 |
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| 646 |
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|
| 647 |
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|
| 648 |
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"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 649 |
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},
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| 650 |
"objects": [
|
| 651 |
{
|
| 652 |
"name": "LittleBox1",
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actions/locomanipulation/LM50/session_004/motions/hands_mano.npz
ADDED
|
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| 1 |
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size 5198426
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actions/locomanipulation/LM50/session_004/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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actions/locomanipulation/LM50/session_005/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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| 1 |
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{
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+
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|
| 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": "LM50",
|
| 6 |
+
"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
+
"segments": [
|
| 8 |
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{
|
| 9 |
+
"id": "segment1",
|
| 10 |
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|
| 11 |
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|
| 12 |
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}
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],
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| 16 |
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{
|
| 17 |
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"id": "25edc7e1-ae27-4cc5-95bc-9638ca3f8eb8",
|
| 18 |
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"segment": "segment1",
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"action": "LM50",
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| 20 |
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"quality": "valid",
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| 21 |
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|
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|
| 23 |
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|
| 24 |
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"t_end": 132.9225,
|
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"instruction": "Collect three or four objects from around the room, gather them in your arms, then carry them all to the shelf together. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM50/session_005/cameras/gsi_online_calibration.json
ADDED
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@@ -0,0 +1,206 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
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|
actions/locomanipulation/LM50/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
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|
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:75194ad12d6b50e2c9d8c5956689ebcc75b09b8c72a30ee8dee9f66829b6a7de
|
| 3 |
+
size 795158
|