Mayur1092 commited on
Commit
4904e6b
·
verified ·
1 Parent(s): 0ad6c11

Release update 2026-11-05: new sessions, instructions, annotations (part 163)

Browse files
actions/locomanipulation/LM22/session_032/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:d35729154c993b32ed4ad4c1b8f76ebebea25a9a4e20d7caf284aaf97661d211
3
- size 5247486
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:488475c6f40d7ae1940c1fe7c099e04a3d206c04a4cab5c199ebd1160ea4fc08
3
+ size 9806541
actions/locomanipulation/LM22/session_033/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": "LM22",
6
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. 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": 133.966611,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.038999959362874925
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "bc1161c9-647d-46ca-932e-f9fa9d3eb3e6",
18
+ "segment": "segment1",
19
+ "action": "LM22",
20
+ "quality": "valid",
21
+ "start_s": 2,
22
+ "end_s": 130.655,
23
+ "t_start": 2.039,
24
+ "t_end": 130.694,
25
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM22/session_033/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.433
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": 1.2144,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.812,
19
+ "held_out_px_before": 6.305,
20
+ "inliers": 1828,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ -0.3092,
24
+ -0.5219,
25
+ -1.052
26
+ ],
27
+ "split_deg": 0.0874,
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": 2.4805,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.446,
42
+ "held_out_px_before": 6.092,
43
+ "inliers": 3770,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 7.34,
47
+ -17.86,
48
+ 4.66
49
+ ],
50
+ "position_sigma_mm": 0.188,
51
+ "position_split_mm": 1.824,
52
+ "rotvec_deg": [
53
+ -0.1896,
54
+ 0.7847,
55
+ -2.3454
56
+ ],
57
+ "split_deg": 0.0859,
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": 1.5427,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.566,
74
+ "held_out_px_before": 4.976,
75
+ "inliers": 2256,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.3674,
79
+ -0.3682,
80
+ -0.6119
81
+ ],
82
+ "split_deg": 0.0812,
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": 1.0879,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.393,
97
+ "held_out_px_before": 3.276,
98
+ "inliers": 3634,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 7.78,
102
+ -20.13,
103
+ 4.86
104
+ ],
105
+ "position_sigma_mm": 0.189,
106
+ "position_split_mm": 0.645,
107
+ "rotvec_deg": [
108
+ 0.1118,
109
+ -0.3569,
110
+ -1.0216
111
+ ],
112
+ "split_deg": 0.0631,
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": 2.3392,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.386,
127
+ "held_out_px_before": 6.804,
128
+ "inliers": 4614,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ -0.3846,
132
+ -0.1611,
133
+ -2.3017
134
+ ],
135
+ "split_deg": 0.0082,
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": "ceedc787f4ce0a5f76611eeb4a0841fdfacd4f01387134e5ec3fe1cef7c668ab",
145
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "2fadaad891f8c0e9387715cac3d0d84debe18dc25d301410c33500b9df4b493f",
149
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "9ed2609228f500e75c6dcfa78453b5b52ec9d9833d0be65a7a1ed43200205e3c",
153
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "b7a9c697405eccd9b773b590d832ac5d3b9e5e7ffbfca89e3913744684585edc",
157
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
158
+ }
159
+ },
160
+ "input_fingerprint": "b36b94d73d5e6362",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "804618163192ea563c3ff875b13e544b00ff80bc9a317922219119ce4a4b0156",
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": 43.112,
182
+ "left_eye": 41.881,
183
+ "left_front": 45.147,
184
+ "right": 41.782,
185
+ "right_eye": 39.534,
186
+ "right_front": 45.185
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
+ 9708751891111,
197
+ 9709751891111,
198
+ 9712751857777,
199
+ 9713751935555,
200
+ 9717751857777,
201
+ 9718751868888,
202
+ 9722751868888,
203
+ 9723751868888,
204
+ 9724751891111,
205
+ 9730751880000,
206
+ 9731751902222,
207
+ 9735751857777,
208
+ 9736751857777,
209
+ 9737751868888,
210
+ 9743751891111,
211
+ 9744751868888,
212
+ 9746751868888,
213
+ 9747752002222,
214
+ 9750751880000,
215
+ 9751751891111,
216
+ 9754751891111,
217
+ 9755751868888,
218
+ 9758751868888,
219
+ 9759751891111,
220
+ 9762751868888,
221
+ 9763751868888,
222
+ 9767751868888,
223
+ 9768751891111,
224
+ 9771751891111,
225
+ 9772751891111,
226
+ 9775752002222,
227
+ 9776751880000,
228
+ 9782751891111,
229
+ 9783751857777,
230
+ 9785751891111,
231
+ 9786751857777,
232
+ 9788751891111,
233
+ 9789751857777,
234
+ 9795751868888,
235
+ 9796751891111,
236
+ 9801751891111,
237
+ 9802752013333,
238
+ 9803751891111,
239
+ 9808751868888,
240
+ 9809751891111,
241
+ 9814751891111,
242
+ 9815751868888,
243
+ 9817751880000,
244
+ 9818751880000,
245
+ 9821751891111,
246
+ 9822751891111,
247
+ 9827751857777,
248
+ 9828751880000,
249
+ 9829751880000,
250
+ 9833751880000,
251
+ 9834751868888
252
+ ]
253
+ },
254
+ "version": 1
255
+ }
actions/locomanipulation/LM22/session_033/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0eca2386031098cbcb7a799be77d4082570323b8f1975a1b3b7123a93251f5b4
3
+ size 772989
actions/locomanipulation/LM22/session_033/meta.json CHANGED
@@ -360,8 +360,8 @@
360
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
361
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
362
  "hands": {
363
- "observed": false,
364
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
365
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
366
  "hand_marker_offsets_m": {
367
  "left": {
@@ -510,12 +510,126 @@
510
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
511
  }
512
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
513
  "release": {
514
  "release_path": "actions/locomanipulation/LM22/session_033",
515
  "family": "locomanipulation",
516
  "primitive": "LM22",
517
  "source_session": "20261015/LM22/20261015_031735_session47"
518
  },
 
 
 
 
519
  "objects": [
520
  {
521
  "name": "BigBox",
 
360
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
361
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
362
  "hands": {
363
+ "observed": true,
364
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
365
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
366
  "hand_marker_offsets_m": {
367
  "left": {
 
510
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
511
  }
512
  },
513
+ "hands_registration": {
514
+ "cameras": {},
515
+ "hands": {
516
+ "left": {
517
+ "offset_deg": 32.12,
518
+ "offset_rotvec": [
519
+ 0.55,
520
+ 0.1069,
521
+ -0.0212
522
+ ],
523
+ "dev_deg": {
524
+ "median": 11.85,
525
+ "p90": 24.88
526
+ },
527
+ "samples": 3863,
528
+ "accepted": 3697,
529
+ "wrist_pos_err_mm_median": 51.0,
530
+ "per_camera": {
531
+ "head": {
532
+ "samples": 3863,
533
+ "accepted": 3697,
534
+ "gate_deg": 30.0,
535
+ "offset_deg": 32.12,
536
+ "tier": "primary",
537
+ "dev_deg_median": 11.85,
538
+ "wrist_pos_err_mm_median": 51.0
539
+ }
540
+ },
541
+ "frames_by_state": {
542
+ "ace_sample": 14851,
543
+ "interpolated": 816,
544
+ "mean_hand": 409,
545
+ "no_body_fit": 8
546
+ },
547
+ "observed_fraction": 0.9741,
548
+ "observed_fraction_of_valid": 0.9746,
549
+ "palm_axis_vs_markers_deg": {
550
+ "gsi": 31.57,
551
+ "smplx": 2.27
552
+ },
553
+ "hand_marker_to_mesh_mm": {
554
+ "flat": {
555
+ "median": 8.1,
556
+ "p90": 12.5
557
+ },
558
+ "registered": {
559
+ "median": 8.9,
560
+ "p90": 11.0
561
+ }
562
+ }
563
+ },
564
+ "right": {
565
+ "offset_deg": 37.22,
566
+ "offset_rotvec": [
567
+ 0.6366,
568
+ -0.1293,
569
+ 0.0118
570
+ ],
571
+ "dev_deg": {
572
+ "median": 9.23,
573
+ "p90": 17.2
574
+ },
575
+ "samples": 3742,
576
+ "accepted": 3637,
577
+ "wrist_pos_err_mm_median": 43.9,
578
+ "per_camera": {
579
+ "head": {
580
+ "samples": 3742,
581
+ "accepted": 3637,
582
+ "gate_deg": 30.0,
583
+ "offset_deg": 37.22,
584
+ "tier": "primary",
585
+ "dev_deg_median": 9.23,
586
+ "wrist_pos_err_mm_median": 43.9
587
+ }
588
+ },
589
+ "frames_by_state": {
590
+ "ace_sample": 14589,
591
+ "interpolated": 710,
592
+ "mean_hand": 777,
593
+ "no_body_fit": 8
594
+ },
595
+ "observed_fraction": 0.9512,
596
+ "observed_fraction_of_valid": 0.9517,
597
+ "palm_axis_vs_markers_deg": {
598
+ "gsi": 35.23,
599
+ "smplx": 2.01
600
+ },
601
+ "hand_marker_to_mesh_mm": {
602
+ "flat": {
603
+ "median": 12.2,
604
+ "p90": 23.2
605
+ },
606
+ "registered": {
607
+ "median": 12.4,
608
+ "p90": 21.4
609
+ }
610
+ }
611
+ }
612
+ },
613
+ "max_dev_deg": 30.0,
614
+ "max_gap_s": 1.0,
615
+ "cameras_used": [
616
+ "head"
617
+ ],
618
+ "generated_at_utc": "2026-11-03T21:52:31.341806+00:00",
619
+ "generated_by": "scripts/register_hands_smplx.py",
620
+ "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
+ "wrist_flip_suspect": []
622
+ },
623
  "release": {
624
  "release_path": "actions/locomanipulation/LM22/session_033",
625
  "family": "locomanipulation",
626
  "primitive": "LM22",
627
  "source_session": "20261015/LM22/20261015_031735_session47"
628
  },
629
+ "task": {
630
+ "primitive": "LM22",
631
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
632
+ },
633
  "objects": [
634
  {
635
  "name": "BigBox",
actions/locomanipulation/LM22/session_033/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3b7de538b396c02d8c249252ecb4cd2d00f772e2ac9f85cc2ac2a1f0dba44669
3
+ size 5199270
actions/locomanipulation/LM22/session_033/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:0107939de2a7cf0c4f15cc81ccfda0de3577e045b21a8ae080db89e52ac2874c
3
- size 6174643
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e6e907b243ffbf7546dad9863b050e64f13390a25a20cca10d8a382579dfda82
3
+ size 11445421
actions/locomanipulation/LM22/session_034/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": "LM22",
6
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. 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": 143.966778,
11
+ "video": "left_eye",
12
+ "video_t_start": 0.03899307557102194
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "b8961bf9-a858-4488-857a-35d47f01412f",
18
+ "segment": "segment1",
19
+ "action": "LM22",
20
+ "quality": "valid",
21
+ "start_s": 2,
22
+ "end_s": 137.965,
23
+ "t_start": 2.039,
24
+ "t_end": 138.004,
25
+ "instruction": "Carry the box along the marked route, turning 90 degrees at the corner the operator calls, and set it down at the end. Keep going until the operator says stop; one object at a time, and do not rush between trips."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM22/session_034/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,258 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.434
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": 1.1663,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.845,
19
+ "held_out_px_before": 6.279,
20
+ "inliers": 1671,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ -0.2945,
24
+ -0.486,
25
+ -1.0185
26
+ ],
27
+ "split_deg": 0.1043,
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": 2.361,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.425,
42
+ "held_out_px_before": 5.84,
43
+ "inliers": 3271,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ 8.15,
47
+ -17.97,
48
+ 3.69
49
+ ],
50
+ "position_sigma_mm": 0.203,
51
+ "position_split_mm": 2.371,
52
+ "rotvec_deg": [
53
+ -0.1829,
54
+ 0.7554,
55
+ -2.2294
56
+ ],
57
+ "split_deg": 0.0379,
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": 1.5177,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.579,
74
+ "held_out_px_before": 5.075,
75
+ "inliers": 2002,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.3991,
79
+ -0.3477,
80
+ -0.4744
81
+ ],
82
+ "split_deg": 0.1231,
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": 0.9979,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.415,
97
+ "held_out_px_before": 3.852,
98
+ "inliers": 3009,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 8.2,
102
+ -21.05,
103
+ 3.94
104
+ ],
105
+ "position_sigma_mm": 0.218,
106
+ "position_split_mm": 1.943,
107
+ "rotvec_deg": [
108
+ 0.0915,
109
+ -0.3765,
110
+ -0.9196
111
+ ],
112
+ "split_deg": 0.0574,
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": 2.3451,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.401,
127
+ "held_out_px_before": 6.717,
128
+ "inliers": 3903,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ -0.3966,
132
+ -0.1797,
133
+ -2.3043
134
+ ],
135
+ "split_deg": 0.0122,
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": "eb91ce780d31ed32aa4d8fedced54ecbf62bf0633436d5566293ab3862a2cd32",
145
+ "source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "472a3fe5c9795d729fcb202624936d05c39b6c48556de0cdf7a5a6a90b4082d5",
149
+ "source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "0daedd2d3b12db5d5adc9fec6507ab2beda215c35bcd7dcce8227de51627b0fe",
153
+ "source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "dc85ad89a62878bdf36dacc39a028d5e903eb6929d4597ba1f3c75930ec772eb",
157
+ "source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
158
+ }
159
+ },
160
+ "input_fingerprint": "abc5e50ab9c63830",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "c9ba76eb381d6d0125ea838227a6e38f5a4e10a7ec10fe6d0c5b6e34862615c8",
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": 40.771,
182
+ "left_eye": 36.093,
183
+ "left_front": 42.48,
184
+ "right": 40.056,
185
+ "right_eye": 34.457,
186
+ "right_front": 41.945
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
+ 9916782706111,
197
+ 9917782695000,
198
+ 9923782717222,
199
+ 9924782706111,
200
+ 9926782672777,
201
+ 9927782706111,
202
+ 9932782828333,
203
+ 9933782706111,
204
+ 9939782672777,
205
+ 9940782706111,
206
+ 9942782683888,
207
+ 9943782706111,
208
+ 9946782706111,
209
+ 9947782672777,
210
+ 9953782750555,
211
+ 9954782706111,
212
+ 9956782661666,
213
+ 9957782695000,
214
+ 9960782695000,
215
+ 9961782695000,
216
+ 9966782683888,
217
+ 9967782828333,
218
+ 9968782683888,
219
+ 9969782672777,
220
+ 9973782672777,
221
+ 9974782695000,
222
+ 9979782672777,
223
+ 9980782672777,
224
+ 9985782695000,
225
+ 9986782706111,
226
+ 9990782683888,
227
+ 9991782706111,
228
+ 9992782672777,
229
+ 9993782661666,
230
+ 9999782695000,
231
+ 10000782672777,
232
+ 10002782695000,
233
+ 10003782739444,
234
+ 10005782772777,
235
+ 10006782706111,
236
+ 10012782706111,
237
+ 10013782672777,
238
+ 10018782695000,
239
+ 10019782672777,
240
+ 10023782672777,
241
+ 10024782672777,
242
+ 10026782695000,
243
+ 10027782828333,
244
+ 10028782683888,
245
+ 10029782672777,
246
+ 10035782672777,
247
+ 10036782706111,
248
+ 10041782772777,
249
+ 10042782706111,
250
+ 10046782706111,
251
+ 10047782683888,
252
+ 10048782695000,
253
+ 10055782672777,
254
+ 10056782672777
255
+ ]
256
+ },
257
+ "version": 1
258
+ }