Mayur1092 commited on
Commit
86eb029
·
verified ·
1 Parent(s): 6533c5d

Release update 2026-11-05: new sessions, instructions, annotations (part 127)

Browse files
actions/locomanipulation/LM20/session_021/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:241376289ea7a1c53a21f4d5323f5564ce2005d50718f51f7675c062f79994a3
3
+ size 4985063
actions/locomanipulation/LM20/session_021/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:5fab66b9a37f368dada80ed0ed94c5253f601607c38c18507f75d7b2b67717ae
3
- size 5729961
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:30a351334eece3c7cda88f06ab2971b0afdda2689c21cad77953e2f9162fbeca
3
+ size 10700570
actions/locomanipulation/LM20/session_022/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": "LM20",
6
+ "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 129.899944,
11
+ "video": "left_eye",
12
+ "video_t_start": -0.01797752173497602
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "7386e4ec-6cf3-4e76-8e07-f8ed2f833524",
18
+ "segment": "segment1",
19
+ "action": "LM20",
20
+ "quality": "valid",
21
+ "start_s": 0.327,
22
+ "end_s": 127.301,
23
+ "t_start": 0.309,
24
+ "t_end": 127.283,
25
+ "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM20/session_022/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,255 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [],
4
+ "groups_used": 14,
5
+ "median_px": 0.39
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": 1.3988,
17
+ "gate_fail": [],
18
+ "held_out_px_after": 0.511,
19
+ "held_out_px_before": 17.517,
20
+ "inliers": 1188,
21
+ "position_fitted": false,
22
+ "rotvec_deg": [
23
+ -1.1029,
24
+ -0.0483,
25
+ -0.859
26
+ ],
27
+ "split_deg": 0.1157,
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": 2.479,
40
+ "gate_fail": [],
41
+ "held_out_px_after": 0.408,
42
+ "held_out_px_before": 6.693,
43
+ "inliers": 2987,
44
+ "position_fitted": true,
45
+ "position_mm": [
46
+ -0.69,
47
+ -25.46,
48
+ -1.83
49
+ ],
50
+ "position_sigma_mm": 0.093,
51
+ "position_split_mm": 0.824,
52
+ "rotvec_deg": [
53
+ 1.7347,
54
+ -0.6646,
55
+ 1.6415
56
+ ],
57
+ "split_deg": 0.0701,
58
+ "usable": true
59
+ },
60
+ "left_front": {
61
+ "role": "rig origin"
62
+ },
63
+ "right": {
64
+ "accepted": true,
65
+ "against": [
66
+ "left_front",
67
+ "right_front",
68
+ "left_eye",
69
+ "right_eye"
70
+ ],
71
+ "delta_deg": 3.5208,
72
+ "gate_fail": [],
73
+ "held_out_px_after": 0.573,
74
+ "held_out_px_before": 10.975,
75
+ "inliers": 1607,
76
+ "position_fitted": false,
77
+ "rotvec_deg": [
78
+ 1.5563,
79
+ -1.0465,
80
+ 2.9798
81
+ ],
82
+ "split_deg": 0.0937,
83
+ "usable": true
84
+ },
85
+ "right_eye": {
86
+ "accepted": true,
87
+ "against": [
88
+ "left_front",
89
+ "right_front",
90
+ "left_eye",
91
+ "left",
92
+ "right"
93
+ ],
94
+ "delta_deg": 3.1944,
95
+ "gate_fail": [],
96
+ "held_out_px_after": 0.415,
97
+ "held_out_px_before": 5.014,
98
+ "inliers": 3240,
99
+ "position_fitted": true,
100
+ "position_mm": [
101
+ 0.82,
102
+ -23.12,
103
+ -0.25
104
+ ],
105
+ "position_sigma_mm": 0.088,
106
+ "position_split_mm": 0.976,
107
+ "rotvec_deg": [
108
+ 1.8811,
109
+ -1.0876,
110
+ 2.3415
111
+ ],
112
+ "split_deg": 0.0991,
113
+ "usable": true
114
+ },
115
+ "right_front": {
116
+ "accepted": true,
117
+ "against": [
118
+ "left_front",
119
+ "left_eye",
120
+ "right_eye",
121
+ "left",
122
+ "right"
123
+ ],
124
+ "delta_deg": 0.3496,
125
+ "gate_fail": [],
126
+ "held_out_px_after": 0.363,
127
+ "held_out_px_before": 2.142,
128
+ "inliers": 3904,
129
+ "position_fitted": false,
130
+ "rotvec_deg": [
131
+ 0.2163,
132
+ -0.2738,
133
+ 0.0215
134
+ ],
135
+ "split_deg": 0.0213,
136
+ "usable": true
137
+ }
138
+ },
139
+ "code_fingerprint": "711ecf5b3dd408f8",
140
+ "device_id": "c9205ac6e17d2d5c",
141
+ "factory_root_name": "c9205ac6e17d2d5c",
142
+ "files": {
143
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
144
+ "sha256": "150d761f8d0e0e43f080844ed9151c6143b45e55435f9ac0516ebd553eba8d84",
145
+ "source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
146
+ },
147
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
148
+ "sha256": "96017f02f466dd5b565817ebb343016978c61360bf2466b4d87c02b36d03b15f",
149
+ "source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
150
+ },
151
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
152
+ "sha256": "03fb33cb97f1d0d2665a838c2f4d580a6db5ba842c9041164e15d088e224403d",
153
+ "source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
154
+ },
155
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
156
+ "sha256": "979e9ed360f13ac50f9abd6d30685ce4a1771bf864386fb309d45bc0d481cc15",
157
+ "source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
158
+ }
159
+ },
160
+ "input_fingerprint": "8b205cfb1963230e",
161
+ "kind": "online_calibration",
162
+ "output_sha256": "e117bc37d0052987e9f0368576622862458cd89e4795979c1be17f38afe371e4",
163
+ "overlap": {
164
+ "left-right": 0.5,
165
+ "left_eye-left": 0.695,
166
+ "left_eye-right": 0.702,
167
+ "left_front-left": 0.506,
168
+ "left_front-left_eye": 0.692,
169
+ "left_front-right": 0.458,
170
+ "left_front-right_eye": 0.698,
171
+ "left_front-right_front": 1.0,
172
+ "right_eye-left": 0.699,
173
+ "right_eye-left_eye": 1.0,
174
+ "right_eye-right": 0.706,
175
+ "right_front-left": 0.49,
176
+ "right_front-left_eye": 0.697,
177
+ "right_front-right": 0.464,
178
+ "right_front-right_eye": 0.704
179
+ },
180
+ "picture_change": {
181
+ "left": 38.509,
182
+ "left_eye": 36.758,
183
+ "left_front": 41.324,
184
+ "right": 40.61,
185
+ "right_eye": 41.258,
186
+ "right_front": 40.368
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
+ 3307885054888,
197
+ 3308885054888,
198
+ 3312885054888,
199
+ 3313885054888,
200
+ 3314885110444,
201
+ 3315885054888,
202
+ 3320885032666,
203
+ 3321885032666,
204
+ 3326885143777,
205
+ 3327885066000,
206
+ 3330885110444,
207
+ 3331885032666,
208
+ 3332885232666,
209
+ 3337885177111,
210
+ 3338885121555,
211
+ 3340885032666,
212
+ 3341885066000,
213
+ 3345885032666,
214
+ 3346885066000,
215
+ 3348885110444,
216
+ 3349885110444,
217
+ 3353885066000,
218
+ 3354885043777,
219
+ 3357885054888,
220
+ 3358885199333,
221
+ 3364885054888,
222
+ 3365885054888,
223
+ 3366885032666,
224
+ 3370885110444,
225
+ 3371885054888,
226
+ 3376885066000,
227
+ 3377885066000,
228
+ 3380885021555,
229
+ 3381885177111,
230
+ 3382885221555,
231
+ 3383885177111,
232
+ 3388885043777,
233
+ 3389885032666,
234
+ 3391885054888,
235
+ 3392885066000,
236
+ 3398885054888,
237
+ 3399885232666,
238
+ 3400885077111,
239
+ 3406885077111,
240
+ 3407885110444,
241
+ 3409885054888,
242
+ 3410885054888,
243
+ 3411885032666,
244
+ 3412885054888,
245
+ 3416885032666,
246
+ 3417885021555,
247
+ 3423885054888,
248
+ 3424885066000,
249
+ 3427885177111,
250
+ 3428885021555,
251
+ 3429885054888
252
+ ]
253
+ },
254
+ "version": 1
255
+ }
actions/locomanipulation/LM20/session_022/cameras/slam.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb78b542c6c5a481cabc10fee4bc4caf675c637f7fd6fc6f9e45f71ce2f1ab92
3
+ size 745487
actions/locomanipulation/LM20/session_022/meta.json CHANGED
@@ -363,8 +363,8 @@
363
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
364
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
365
  "hands": {
366
- "observed": false,
367
- "hand_pose": "flat (zeros, flat_hand_mean=True)",
368
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
369
  "hand_marker_offsets_m": {
370
  "left": {
@@ -504,10 +504,124 @@
504
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
505
  }
506
  },
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
507
  "release": {
508
  "release_path": "actions/locomanipulation/LM20/session_022",
509
  "family": "locomanipulation",
510
  "primitive": "LM20",
511
  "source_session": "20261019/LM20/20261019_095425_session69"
 
 
 
 
512
  }
513
  }
 
363
  "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
364
  "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
365
  "hands": {
366
+ "observed": true,
367
+ "hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
368
  "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
369
  "hand_marker_offsets_m": {
370
  "left": {
 
504
  "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
505
  }
506
  },
507
+ "hands_registration": {
508
+ "cameras": {},
509
+ "hands": {
510
+ "left": {
511
+ "offset_deg": 32.39,
512
+ "offset_rotvec": [
513
+ 0.5384,
514
+ -0.1369,
515
+ -0.1046
516
+ ],
517
+ "dev_deg": {
518
+ "median": 10.62,
519
+ "p90": 26.51
520
+ },
521
+ "samples": 3841,
522
+ "accepted": 3547,
523
+ "wrist_pos_err_mm_median": 34.0,
524
+ "per_camera": {
525
+ "head": {
526
+ "samples": 3841,
527
+ "accepted": 3547,
528
+ "gate_deg": 30.0,
529
+ "offset_deg": 32.39,
530
+ "tier": "primary",
531
+ "dev_deg_median": 10.62,
532
+ "wrist_pos_err_mm_median": 34.0
533
+ }
534
+ },
535
+ "frames_by_state": {
536
+ "ace_sample": 14246,
537
+ "interpolated": 906,
538
+ "mean_hand": 437,
539
+ "no_body_fit": 0
540
+ },
541
+ "observed_fraction": 0.972,
542
+ "observed_fraction_of_valid": 0.972,
543
+ "palm_axis_vs_markers_deg": {
544
+ "gsi": 32.26,
545
+ "smplx": 1.59
546
+ },
547
+ "hand_marker_to_mesh_mm": {
548
+ "flat": {
549
+ "median": 4.5,
550
+ "p90": 6.8
551
+ },
552
+ "registered": {
553
+ "median": 5.8,
554
+ "p90": 8.7
555
+ }
556
+ }
557
+ },
558
+ "right": {
559
+ "offset_deg": 30.86,
560
+ "offset_rotvec": [
561
+ 0.5272,
562
+ 0.0784,
563
+ 0.077
564
+ ],
565
+ "dev_deg": {
566
+ "median": 7.05,
567
+ "p90": 21.19
568
+ },
569
+ "samples": 3860,
570
+ "accepted": 3699,
571
+ "wrist_pos_err_mm_median": 29.2,
572
+ "per_camera": {
573
+ "head": {
574
+ "samples": 3860,
575
+ "accepted": 3699,
576
+ "gate_deg": 30.0,
577
+ "offset_deg": 30.86,
578
+ "tier": "primary",
579
+ "dev_deg_median": 7.05,
580
+ "wrist_pos_err_mm_median": 29.2
581
+ }
582
+ },
583
+ "frames_by_state": {
584
+ "ace_sample": 14824,
585
+ "interpolated": 284,
586
+ "mean_hand": 481,
587
+ "no_body_fit": 0
588
+ },
589
+ "observed_fraction": 0.9691,
590
+ "observed_fraction_of_valid": 0.9691,
591
+ "palm_axis_vs_markers_deg": {
592
+ "gsi": 31.56,
593
+ "smplx": 1.39
594
+ },
595
+ "hand_marker_to_mesh_mm": {
596
+ "flat": {
597
+ "median": 12.2,
598
+ "p90": 14.1
599
+ },
600
+ "registered": {
601
+ "median": 11.7,
602
+ "p90": 13.0
603
+ }
604
+ }
605
+ }
606
+ },
607
+ "max_dev_deg": 30.0,
608
+ "max_gap_s": 1.0,
609
+ "cameras_used": [
610
+ "head"
611
+ ],
612
+ "generated_at_utc": "2026-11-03T21:34:45.031458+00:00",
613
+ "generated_by": "scripts/register_hands_smplx.py",
614
+ "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",
615
+ "wrist_flip_suspect": []
616
+ },
617
  "release": {
618
  "release_path": "actions/locomanipulation/LM20/session_022",
619
  "family": "locomanipulation",
620
  "primitive": "LM20",
621
  "source_session": "20261019/LM20/20261019_095425_session69"
622
+ },
623
+ "task": {
624
+ "primitive": "LM20",
625
+ "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works."
626
  }
627
  }
actions/locomanipulation/LM20/session_022/motions/hands_mano.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:576e222361d45209f8f1416652acfef1fc390aa3cf03e3e5f759e6f651302b4d
3
+ size 5180986
actions/locomanipulation/LM20/session_022/motions/smplx.npz CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
2
- oid sha256:040ad07061a7d6befc5db08d9294b472d5642c53e7224e9f65bf9abd7131c7a0
3
- size 5973250
 
1
  version https://git-lfs.github.com/spec/v1
2
+ oid sha256:389531d433829482b19d94529695ff9372ad0214a0f10a5796e597c9fbd13655
3
+ size 11062920
actions/locomanipulation/LM20/session_023/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": "LM20",
6
+ "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works.",
7
+ "segments": [
8
+ {
9
+ "id": "segment1",
10
+ "duration_s": 124.100044,
11
+ "video": "left_eye",
12
+ "video_t_start": -0.018479927876164454
13
+ }
14
+ ],
15
+ "episodes": [
16
+ {
17
+ "id": "c077ada5-3969-4a17-a4fa-6891dd1d573e",
18
+ "segment": "segment1",
19
+ "action": "LM20",
20
+ "quality": "valid",
21
+ "start_s": 1.48,
22
+ "end_s": 120.711,
23
+ "t_start": 1.4615,
24
+ "t_end": 120.6925,
25
+ "instruction": "Carry the large light object across the room, back and forth. It is awkward rather than heavy, so hold it however works."
26
+ }
27
+ ]
28
+ }
actions/locomanipulation/LM20/session_023/cameras/gsi_online_calibration.json ADDED
@@ -0,0 +1,224 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "camera_fit": {
3
+ "groups_dropped": [
4
+ {
5
+ "matches": 48,
6
+ "median_px": 6.06,
7
+ "pair": [
8
+ "left",
9
+ "right"
10
+ ]
11
+ }
12
+ ],
13
+ "groups_used": 14,
14
+ "median_px": 0.382
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": 2.4754,
26
+ "gate_fail": [],
27
+ "held_out_px_after": 0.548,
28
+ "held_out_px_before": 5.345,
29
+ "inliers": 923,
30
+ "position_fitted": false,
31
+ "rotvec_deg": [
32
+ 2.105,
33
+ -1.2518,
34
+ 0.3597
35
+ ],
36
+ "split_deg": 0.0528,
37
+ "usable": true
38
+ },
39
+ "left_eye": {
40
+ "accepted": true,
41
+ "against": [
42
+ "left_front",
43
+ "right_front",
44
+ "right_eye",
45
+ "left",
46
+ "right"
47
+ ],
48
+ "delta_deg": 0.7189,
49
+ "gate_fail": [],
50
+ "held_out_px_after": 0.404,
51
+ "held_out_px_before": 3.533,
52
+ "inliers": 2228,
53
+ "position_fitted": true,
54
+ "position_mm": [
55
+ -2.65,
56
+ -18.72,
57
+ 4.0
58
+ ],
59
+ "position_sigma_mm": 0.152,
60
+ "position_split_mm": 2.044,
61
+ "rotvec_deg": [
62
+ -0.1006,
63
+ -0.0909,
64
+ 0.706
65
+ ],
66
+ "split_deg": 0.0282,
67
+ "usable": true
68
+ },
69
+ "left_front": {
70
+ "role": "rig origin"
71
+ },
72
+ "right": {
73
+ "accepted": true,
74
+ "against": [
75
+ "left_front",
76
+ "right_front",
77
+ "left_eye",
78
+ "right_eye"
79
+ ],
80
+ "delta_deg": 3.7908,
81
+ "gate_fail": [],
82
+ "held_out_px_after": 0.51,
83
+ "held_out_px_before": 7.751,
84
+ "inliers": 1131,
85
+ "position_fitted": false,
86
+ "rotvec_deg": [
87
+ 2.142,
88
+ -1.0573,
89
+ 2.9435
90
+ ],
91
+ "split_deg": 0.1012,
92
+ "usable": true
93
+ },
94
+ "right_eye": {
95
+ "accepted": true,
96
+ "against": [
97
+ "left_front",
98
+ "right_front",
99
+ "left_eye",
100
+ "left",
101
+ "right"
102
+ ],
103
+ "delta_deg": 1.895,
104
+ "gate_fail": [],
105
+ "held_out_px_after": 0.351,
106
+ "held_out_px_before": 5.543,
107
+ "inliers": 2781,
108
+ "position_fitted": true,
109
+ "position_mm": [
110
+ -2.2,
111
+ -15.92,
112
+ 4.2
113
+ ],
114
+ "position_sigma_mm": 0.16,
115
+ "position_split_mm": 1.062,
116
+ "rotvec_deg": [
117
+ 0.2861,
118
+ -0.8206,
119
+ 1.684
120
+ ],
121
+ "split_deg": 0.0378,
122
+ "usable": true
123
+ },
124
+ "right_front": {
125
+ "accepted": true,
126
+ "against": [
127
+ "left_front",
128
+ "left_eye",
129
+ "right_eye",
130
+ "left",
131
+ "right"
132
+ ],
133
+ "delta_deg": 0.8864,
134
+ "gate_fail": [],
135
+ "held_out_px_after": 0.385,
136
+ "held_out_px_before": 5.494,
137
+ "inliers": 2697,
138
+ "position_fitted": false,
139
+ "rotvec_deg": [
140
+ 0.6889,
141
+ -0.3144,
142
+ -0.4607
143
+ ],
144
+ "split_deg": 0.0255,
145
+ "usable": true
146
+ }
147
+ },
148
+ "code_fingerprint": "711ecf5b3dd408f8",
149
+ "device_id": "e3296774a321bb51",
150
+ "factory_root_name": "e3296774a321bb51",
151
+ "files": {
152
+ "imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
153
+ "sha256": "dd54117aedb576a71746fe2589264d4653509022ac385b4b3329240b8238391b",
154
+ "source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
155
+ },
156
+ "imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
157
+ "sha256": "ca986ba07a06362e6929904d7831c024aae4cc71146b163e9653cff87afa1667",
158
+ "source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
159
+ },
160
+ "imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
161
+ "sha256": "de3801c6b89e0711db21489224585a5e0a03bf1fd6c89bce099b3d88caa76bf9",
162
+ "source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
163
+ },
164
+ "imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
165
+ "sha256": "6c20373e3fed3f2d768e485874adcab0a9563543c1f304b6b70a5bb13ffb0da0",
166
+ "source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
167
+ }
168
+ },
169
+ "input_fingerprint": "7834e3190f8adb8a",
170
+ "kind": "online_calibration",
171
+ "output_sha256": "f8c83e0e2d770693d0e16822f046db104b55161db6d76b32af3541ee5ee0cd84",
172
+ "overlap": {
173
+ "left-right": 0.489,
174
+ "left_eye-left": 0.684,
175
+ "left_eye-right": 0.685,
176
+ "left_eye-right_eye": 1.0,
177
+ "left_front-left": 0.466,
178
+ "left_front-left_eye": 0.717,
179
+ "left_front-right": 0.447,
180
+ "left_front-right_eye": 0.72,
181
+ "left_front-right_front": 1.0,
182
+ "right_eye-left": 0.672,
183
+ "right_eye-right": 0.676,
184
+ "right_front-left": 0.469,
185
+ "right_front-left_eye": 0.746,
186
+ "right_front-right": 0.472,
187
+ "right_front-right_eye": 0.74
188
+ },
189
+ "picture_change": {
190
+ "left": 47.624,
191
+ "left_eye": 51.813,
192
+ "left_front": 43.655,
193
+ "right": 45.516,
194
+ "right_eye": 50.417,
195
+ "right_front": 43.256
196
+ },
197
+ "runtime": {
198
+ "numpy": "2.4.6",
199
+ "opencv": "5.0.0",
200
+ "scipy": "1.17.1"
201
+ },
202
+ "segment": 1,
203
+ "selection": {
204
+ "overlap_captures": [
205
+ 10277035580777,
206
+ 10278035625222,
207
+ 10279035580777,
208
+ 10280035603000,
209
+ 10281035580777,
210
+ 10282035614111,
211
+ 10283035580777,
212
+ 10284035580777,
213
+ 10285035591888,
214
+ 10286035625222,
215
+ 10287035625222,
216
+ 10288035580777,
217
+ 10289035591888,
218
+ 10290035614111,
219
+ 10291035580777,
220
+ 10292035580777
221
+ ]
222
+ },
223
+ "version": 1
224
+ }