Release update 2026-11-05: new sessions, instructions, annotations (part 73)
Browse files- actions/locomanipulation/LM17/session_042/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_042/meta.json +116 -2
- actions/locomanipulation/LM17/session_042/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_042/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_043/annotations.json +28 -0
- actions/locomanipulation/LM17/session_043/cameras/gsi_online_calibration.json +265 -0
- actions/locomanipulation/LM17/session_043/cameras/slam.npz +3 -0
- actions/locomanipulation/LM17/session_043/meta.json +116 -2
- actions/locomanipulation/LM17/session_043/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM17/session_043/motions/smplx.npz +2 -2
- actions/locomanipulation/LM17/session_044/annotations.json +28 -0
- actions/locomanipulation/LM17/session_044/cameras/gsi_online_calibration.json +223 -0
actions/locomanipulation/LM17/session_042/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c3308df1ffa4685a8b6834799382f242da73412357151c417738b3ba01f4572c
|
| 3 |
+
size 738216
|
actions/locomanipulation/LM17/session_042/meta.json
CHANGED
|
@@ -362,8 +362,8 @@
|
|
| 362 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 363 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 364 |
"hands": {
|
| 365 |
-
"observed":
|
| 366 |
-
"hand_pose": "
|
| 367 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 368 |
"hand_marker_offsets_m": {
|
| 369 |
"left": {
|
|
@@ -505,10 +505,124 @@
|
|
| 505 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 506 |
}
|
| 507 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 508 |
"release": {
|
| 509 |
"release_path": "actions/locomanipulation/LM17/session_042",
|
| 510 |
"family": "locomanipulation",
|
| 511 |
"primitive": "LM17",
|
| 512 |
"source_session": "20261017/LM17/20261017_055224_session81"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 513 |
}
|
| 514 |
}
|
|
|
|
| 362 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 363 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 364 |
"hands": {
|
| 365 |
+
"observed": true,
|
| 366 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 367 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 368 |
"hand_marker_offsets_m": {
|
| 369 |
"left": {
|
|
|
|
| 505 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 506 |
}
|
| 507 |
},
|
| 508 |
+
"hands_registration": {
|
| 509 |
+
"cameras": {},
|
| 510 |
+
"hands": {
|
| 511 |
+
"left": {
|
| 512 |
+
"offset_deg": 29.95,
|
| 513 |
+
"offset_rotvec": [
|
| 514 |
+
-0.0502,
|
| 515 |
+
-0.4551,
|
| 516 |
+
-0.2522
|
| 517 |
+
],
|
| 518 |
+
"dev_deg": {
|
| 519 |
+
"median": 7.62,
|
| 520 |
+
"p90": 15.47
|
| 521 |
+
},
|
| 522 |
+
"samples": 3802,
|
| 523 |
+
"accepted": 3748,
|
| 524 |
+
"wrist_pos_err_mm_median": 57.6,
|
| 525 |
+
"per_camera": {
|
| 526 |
+
"head": {
|
| 527 |
+
"samples": 3802,
|
| 528 |
+
"accepted": 3748,
|
| 529 |
+
"gate_deg": 30.0,
|
| 530 |
+
"offset_deg": 29.95,
|
| 531 |
+
"tier": "primary",
|
| 532 |
+
"dev_deg_median": 7.62,
|
| 533 |
+
"wrist_pos_err_mm_median": 57.6
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"frames_by_state": {
|
| 537 |
+
"ace_sample": 15006,
|
| 538 |
+
"interpolated": 194,
|
| 539 |
+
"mean_hand": 155,
|
| 540 |
+
"no_body_fit": 0
|
| 541 |
+
},
|
| 542 |
+
"observed_fraction": 0.9899,
|
| 543 |
+
"observed_fraction_of_valid": 0.9899,
|
| 544 |
+
"palm_axis_vs_markers_deg": {
|
| 545 |
+
"gsi": 25.62,
|
| 546 |
+
"smplx": 1.19
|
| 547 |
+
},
|
| 548 |
+
"hand_marker_to_mesh_mm": {
|
| 549 |
+
"flat": {
|
| 550 |
+
"median": 5.4,
|
| 551 |
+
"p90": 7.2
|
| 552 |
+
},
|
| 553 |
+
"registered": {
|
| 554 |
+
"median": 8.2,
|
| 555 |
+
"p90": 9.9
|
| 556 |
+
}
|
| 557 |
+
}
|
| 558 |
+
},
|
| 559 |
+
"right": {
|
| 560 |
+
"offset_deg": 23.44,
|
| 561 |
+
"offset_rotvec": [
|
| 562 |
+
0.2992,
|
| 563 |
+
0.2312,
|
| 564 |
+
0.1562
|
| 565 |
+
],
|
| 566 |
+
"dev_deg": {
|
| 567 |
+
"median": 15.23,
|
| 568 |
+
"p90": 55.61
|
| 569 |
+
},
|
| 570 |
+
"samples": 2089,
|
| 571 |
+
"accepted": 1606,
|
| 572 |
+
"wrist_pos_err_mm_median": 50.0,
|
| 573 |
+
"per_camera": {
|
| 574 |
+
"head": {
|
| 575 |
+
"samples": 2089,
|
| 576 |
+
"accepted": 1606,
|
| 577 |
+
"gate_deg": 30.0,
|
| 578 |
+
"offset_deg": 23.44,
|
| 579 |
+
"tier": "primary",
|
| 580 |
+
"dev_deg_median": 15.23,
|
| 581 |
+
"wrist_pos_err_mm_median": 50.0
|
| 582 |
+
}
|
| 583 |
+
},
|
| 584 |
+
"frames_by_state": {
|
| 585 |
+
"ace_sample": 6612,
|
| 586 |
+
"interpolated": 5236,
|
| 587 |
+
"mean_hand": 3507,
|
| 588 |
+
"no_body_fit": 0
|
| 589 |
+
},
|
| 590 |
+
"observed_fraction": 0.7716,
|
| 591 |
+
"observed_fraction_of_valid": 0.7716,
|
| 592 |
+
"palm_axis_vs_markers_deg": {
|
| 593 |
+
"gsi": 26.18,
|
| 594 |
+
"smplx": 0.74
|
| 595 |
+
},
|
| 596 |
+
"hand_marker_to_mesh_mm": {
|
| 597 |
+
"flat": {
|
| 598 |
+
"median": 13.1,
|
| 599 |
+
"p90": 25.9
|
| 600 |
+
},
|
| 601 |
+
"registered": {
|
| 602 |
+
"median": 12.9,
|
| 603 |
+
"p90": 25.4
|
| 604 |
+
}
|
| 605 |
+
}
|
| 606 |
+
}
|
| 607 |
+
},
|
| 608 |
+
"max_dev_deg": 30.0,
|
| 609 |
+
"max_gap_s": 1.0,
|
| 610 |
+
"cameras_used": [
|
| 611 |
+
"head"
|
| 612 |
+
],
|
| 613 |
+
"generated_at_utc": "2026-11-03T21:42:54.940502+00:00",
|
| 614 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 615 |
+
"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",
|
| 616 |
+
"wrist_flip_suspect": []
|
| 617 |
+
},
|
| 618 |
"release": {
|
| 619 |
"release_path": "actions/locomanipulation/LM17/session_042",
|
| 620 |
"family": "locomanipulation",
|
| 621 |
"primitive": "LM17",
|
| 622 |
"source_session": "20261017/LM17/20261017_055224_session81"
|
| 623 |
+
},
|
| 624 |
+
"task": {
|
| 625 |
+
"primitive": "LM17",
|
| 626 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 627 |
}
|
| 628 |
}
|
actions/locomanipulation/LM17/session_042/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:23bd7d85007b8b823e621c559eb51e84e75249a80d59107430f56100ee21a776
|
| 3 |
+
size 4043019
|
actions/locomanipulation/LM17/session_042/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9843b979b7876d5e83e0d505e846f021045470863f445737127f68cbebe737e7
|
| 3 |
+
size 10575589
|
actions/locomanipulation/LM17/session_043/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": "LM17",
|
| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 115.766589,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": -8.767834095146075
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "5b2ed136-8d12-440e-80e3-d6f4ae71fd04",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM17",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 7.942,
|
| 22 |
+
"end_s": 113.578,
|
| 23 |
+
"t_start": -0.8258,
|
| 24 |
+
"t_end": 104.8102,
|
| 25 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM17/session_043/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,265 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
+
{
|
| 5 |
+
"matches": 268,
|
| 6 |
+
"median_px": 4.25,
|
| 7 |
+
"pair": [
|
| 8 |
+
"left_eye",
|
| 9 |
+
"left"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"groups_used": 13,
|
| 14 |
+
"median_px": 0.359
|
| 15 |
+
},
|
| 16 |
+
"cameras": {
|
| 17 |
+
"left": {
|
| 18 |
+
"accepted": true,
|
| 19 |
+
"against": [
|
| 20 |
+
"left_front",
|
| 21 |
+
"right_front",
|
| 22 |
+
"right_eye"
|
| 23 |
+
],
|
| 24 |
+
"delta_deg": 1.5724,
|
| 25 |
+
"gate_fail": [],
|
| 26 |
+
"held_out_px_after": 0.436,
|
| 27 |
+
"held_out_px_before": 9.658,
|
| 28 |
+
"inliers": 861,
|
| 29 |
+
"position_fitted": false,
|
| 30 |
+
"rotvec_deg": [
|
| 31 |
+
-1.4487,
|
| 32 |
+
-0.0393,
|
| 33 |
+
-0.61
|
| 34 |
+
],
|
| 35 |
+
"split_deg": 0.043,
|
| 36 |
+
"usable": true
|
| 37 |
+
},
|
| 38 |
+
"left_eye": {
|
| 39 |
+
"accepted": true,
|
| 40 |
+
"against": [
|
| 41 |
+
"left_front",
|
| 42 |
+
"right_front",
|
| 43 |
+
"right_eye",
|
| 44 |
+
"right"
|
| 45 |
+
],
|
| 46 |
+
"delta_deg": 2.344,
|
| 47 |
+
"gate_fail": [],
|
| 48 |
+
"held_out_px_after": 0.563,
|
| 49 |
+
"held_out_px_before": 4.723,
|
| 50 |
+
"inliers": 1989,
|
| 51 |
+
"position_fitted": true,
|
| 52 |
+
"position_mm": [
|
| 53 |
+
-4.17,
|
| 54 |
+
-21.37,
|
| 55 |
+
-3.21
|
| 56 |
+
],
|
| 57 |
+
"position_sigma_mm": 0.195,
|
| 58 |
+
"position_split_mm": 0.969,
|
| 59 |
+
"rotvec_deg": [
|
| 60 |
+
1.6699,
|
| 61 |
+
-0.6391,
|
| 62 |
+
1.5156
|
| 63 |
+
],
|
| 64 |
+
"split_deg": 0.1267,
|
| 65 |
+
"usable": true
|
| 66 |
+
},
|
| 67 |
+
"left_front": {
|
| 68 |
+
"role": "rig origin"
|
| 69 |
+
},
|
| 70 |
+
"right": {
|
| 71 |
+
"accepted": true,
|
| 72 |
+
"against": [
|
| 73 |
+
"left_front",
|
| 74 |
+
"right_front",
|
| 75 |
+
"left_eye",
|
| 76 |
+
"right_eye"
|
| 77 |
+
],
|
| 78 |
+
"delta_deg": 3.2673,
|
| 79 |
+
"gate_fail": [],
|
| 80 |
+
"held_out_px_after": 0.504,
|
| 81 |
+
"held_out_px_before": 10.454,
|
| 82 |
+
"inliers": 1805,
|
| 83 |
+
"position_fitted": false,
|
| 84 |
+
"rotvec_deg": [
|
| 85 |
+
1.4554,
|
| 86 |
+
-0.9573,
|
| 87 |
+
2.7642
|
| 88 |
+
],
|
| 89 |
+
"split_deg": 0.0983,
|
| 90 |
+
"usable": true
|
| 91 |
+
},
|
| 92 |
+
"right_eye": {
|
| 93 |
+
"accepted": true,
|
| 94 |
+
"against": [
|
| 95 |
+
"left_front",
|
| 96 |
+
"right_front",
|
| 97 |
+
"left_eye",
|
| 98 |
+
"left",
|
| 99 |
+
"right"
|
| 100 |
+
],
|
| 101 |
+
"delta_deg": 3.2587,
|
| 102 |
+
"gate_fail": [],
|
| 103 |
+
"held_out_px_after": 0.407,
|
| 104 |
+
"held_out_px_before": 5.533,
|
| 105 |
+
"inliers": 2752,
|
| 106 |
+
"position_fitted": true,
|
| 107 |
+
"position_mm": [
|
| 108 |
+
2.85,
|
| 109 |
+
-18.62,
|
| 110 |
+
-1.78
|
| 111 |
+
],
|
| 112 |
+
"position_sigma_mm": 0.131,
|
| 113 |
+
"position_split_mm": 0.509,
|
| 114 |
+
"rotvec_deg": [
|
| 115 |
+
1.9982,
|
| 116 |
+
-1.0322,
|
| 117 |
+
2.3581
|
| 118 |
+
],
|
| 119 |
+
"split_deg": 0.0224,
|
| 120 |
+
"usable": true
|
| 121 |
+
},
|
| 122 |
+
"right_front": {
|
| 123 |
+
"accepted": true,
|
| 124 |
+
"against": [
|
| 125 |
+
"left_front",
|
| 126 |
+
"left_eye",
|
| 127 |
+
"right_eye",
|
| 128 |
+
"left",
|
| 129 |
+
"right"
|
| 130 |
+
],
|
| 131 |
+
"delta_deg": 0.3447,
|
| 132 |
+
"gate_fail": [],
|
| 133 |
+
"held_out_px_after": 0.324,
|
| 134 |
+
"held_out_px_before": 2.198,
|
| 135 |
+
"inliers": 3945,
|
| 136 |
+
"position_fitted": false,
|
| 137 |
+
"rotvec_deg": [
|
| 138 |
+
0.2651,
|
| 139 |
+
-0.2153,
|
| 140 |
+
0.0466
|
| 141 |
+
],
|
| 142 |
+
"split_deg": 0.0121,
|
| 143 |
+
"usable": true
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 147 |
+
"device_id": "c9205ac6e17d2d5c",
|
| 148 |
+
"factory_root_name": "c9205ac6e17d2d5c",
|
| 149 |
+
"files": {
|
| 150 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 151 |
+
"sha256": "2d7ef7b2c6cfb4aeca05b1279b8ee8ec54f1f4538ef52a75a3e7a742e244cf3d",
|
| 152 |
+
"source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
|
| 153 |
+
},
|
| 154 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 155 |
+
"sha256": "1cb419004c0260907bbc33ac75150df24945facc6f12ab8dc1e3a13e61b78326",
|
| 156 |
+
"source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
|
| 157 |
+
},
|
| 158 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 159 |
+
"sha256": "9cdb5d772c9e6b40cf978b49f7b25c7afd77022baa90aa988fe78a315ad522de",
|
| 160 |
+
"source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
|
| 161 |
+
},
|
| 162 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 163 |
+
"sha256": "ac74dcbc06c607df2f2d76abc637e415dd0edd70f1b316db576a1f753274dfc3",
|
| 164 |
+
"source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"input_fingerprint": "ab78f3801d74ee6c",
|
| 168 |
+
"kind": "online_calibration",
|
| 169 |
+
"output_sha256": "93bb84c868c73bcfe680f924a3a881f3c4c15a82ac97c22ba3521cf2c2920442",
|
| 170 |
+
"overlap": {
|
| 171 |
+
"left-right": 0.5,
|
| 172 |
+
"left_eye-left": 0.695,
|
| 173 |
+
"left_eye-right": 0.702,
|
| 174 |
+
"left_front-left": 0.506,
|
| 175 |
+
"left_front-left_eye": 0.692,
|
| 176 |
+
"left_front-right": 0.458,
|
| 177 |
+
"left_front-right_eye": 0.698,
|
| 178 |
+
"left_front-right_front": 1.0,
|
| 179 |
+
"right_eye-left": 0.699,
|
| 180 |
+
"right_eye-left_eye": 1.0,
|
| 181 |
+
"right_eye-right": 0.706,
|
| 182 |
+
"right_front-left": 0.49,
|
| 183 |
+
"right_front-left_eye": 0.697,
|
| 184 |
+
"right_front-right": 0.464,
|
| 185 |
+
"right_front-right_eye": 0.704
|
| 186 |
+
},
|
| 187 |
+
"picture_change": {
|
| 188 |
+
"left": 50.595,
|
| 189 |
+
"left_eye": 46.688,
|
| 190 |
+
"left_front": 51.25,
|
| 191 |
+
"right": 45.039,
|
| 192 |
+
"right_eye": 50.984,
|
| 193 |
+
"right_front": 49.97
|
| 194 |
+
},
|
| 195 |
+
"runtime": {
|
| 196 |
+
"numpy": "2.4.6",
|
| 197 |
+
"opencv": "5.0.0",
|
| 198 |
+
"scipy": "1.17.1"
|
| 199 |
+
},
|
| 200 |
+
"segment": 1,
|
| 201 |
+
"selection": {
|
| 202 |
+
"overlap_captures": [
|
| 203 |
+
4690000110555,
|
| 204 |
+
4691000099444,
|
| 205 |
+
4694000110555,
|
| 206 |
+
4695000110555,
|
| 207 |
+
4698000121666,
|
| 208 |
+
4699000099444,
|
| 209 |
+
4703000099444,
|
| 210 |
+
4704000110555,
|
| 211 |
+
4705000110555,
|
| 212 |
+
4706000110555,
|
| 213 |
+
4710000110555,
|
| 214 |
+
4711000099444,
|
| 215 |
+
4713000132777,
|
| 216 |
+
4714000099444,
|
| 217 |
+
4717000110555,
|
| 218 |
+
4718000088333,
|
| 219 |
+
4722000099444,
|
| 220 |
+
4723000132777,
|
| 221 |
+
4727000099444,
|
| 222 |
+
4728000099444,
|
| 223 |
+
4729000110555,
|
| 224 |
+
4734000110555,
|
| 225 |
+
4735000166111,
|
| 226 |
+
4737000110555,
|
| 227 |
+
4738000099444,
|
| 228 |
+
4739000099444,
|
| 229 |
+
4740000110555,
|
| 230 |
+
4743000132777,
|
| 231 |
+
4744000110555,
|
| 232 |
+
4746000177222,
|
| 233 |
+
4747000110555,
|
| 234 |
+
4751000099444,
|
| 235 |
+
4752000088333,
|
| 236 |
+
4756000110555,
|
| 237 |
+
4757000099444,
|
| 238 |
+
4759000110555,
|
| 239 |
+
4760000110555,
|
| 240 |
+
4762000088333,
|
| 241 |
+
4763000099444,
|
| 242 |
+
4765000088333,
|
| 243 |
+
4766000088333,
|
| 244 |
+
4770000099444,
|
| 245 |
+
4771000121666,
|
| 246 |
+
4775000110555,
|
| 247 |
+
4776000277222,
|
| 248 |
+
4778000099444,
|
| 249 |
+
4779000110555,
|
| 250 |
+
4780000110555,
|
| 251 |
+
4781000188333,
|
| 252 |
+
4785000110555,
|
| 253 |
+
4786000099444,
|
| 254 |
+
4790000099444,
|
| 255 |
+
4791000110555,
|
| 256 |
+
4792000110555,
|
| 257 |
+
4793000110555,
|
| 258 |
+
4798000099444,
|
| 259 |
+
4799000110555,
|
| 260 |
+
4801000099444,
|
| 261 |
+
4802000110555
|
| 262 |
+
]
|
| 263 |
+
},
|
| 264 |
+
"version": 1
|
| 265 |
+
}
|
actions/locomanipulation/LM17/session_043/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:faaee3851c5d8297c8d091ae4d5514d9c028200948fbae329e91bc015fc9f89d
|
| 3 |
+
size 665398
|
actions/locomanipulation/LM17/session_043/meta.json
CHANGED
|
@@ -333,8 +333,8 @@
|
|
| 333 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 334 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 335 |
"hands": {
|
| 336 |
-
"observed":
|
| 337 |
-
"hand_pose": "
|
| 338 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 339 |
"hand_marker_offsets_m": {
|
| 340 |
"left": {
|
|
@@ -480,10 +480,124 @@
|
|
| 480 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 481 |
}
|
| 482 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 483 |
"release": {
|
| 484 |
"release_path": "actions/locomanipulation/LM17/session_043",
|
| 485 |
"family": "locomanipulation",
|
| 486 |
"primitive": "LM17",
|
| 487 |
"source_session": "20261019/LM17/20261019_082442_session44"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 488 |
}
|
| 489 |
}
|
|
|
|
| 333 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 334 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 335 |
"hands": {
|
| 336 |
+
"observed": true,
|
| 337 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 338 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 339 |
"hand_marker_offsets_m": {
|
| 340 |
"left": {
|
|
|
|
| 480 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 481 |
}
|
| 482 |
},
|
| 483 |
+
"hands_registration": {
|
| 484 |
+
"cameras": {},
|
| 485 |
+
"hands": {
|
| 486 |
+
"left": {
|
| 487 |
+
"offset_deg": 18.42,
|
| 488 |
+
"offset_rotvec": [
|
| 489 |
+
-0.0002,
|
| 490 |
+
0.0381,
|
| 491 |
+
-0.3193
|
| 492 |
+
],
|
| 493 |
+
"dev_deg": {
|
| 494 |
+
"median": 23.74,
|
| 495 |
+
"p90": 45.36
|
| 496 |
+
},
|
| 497 |
+
"samples": 3141,
|
| 498 |
+
"accepted": 2226,
|
| 499 |
+
"wrist_pos_err_mm_median": 51.6,
|
| 500 |
+
"per_camera": {
|
| 501 |
+
"head": {
|
| 502 |
+
"samples": 3141,
|
| 503 |
+
"accepted": 2226,
|
| 504 |
+
"gate_deg": 30.0,
|
| 505 |
+
"offset_deg": 18.42,
|
| 506 |
+
"tier": "primary",
|
| 507 |
+
"dev_deg_median": 23.74,
|
| 508 |
+
"wrist_pos_err_mm_median": 51.6
|
| 509 |
+
}
|
| 510 |
+
},
|
| 511 |
+
"frames_by_state": {
|
| 512 |
+
"ace_sample": 9078,
|
| 513 |
+
"interpolated": 2546,
|
| 514 |
+
"mean_hand": 1219,
|
| 515 |
+
"no_body_fit": 0
|
| 516 |
+
},
|
| 517 |
+
"observed_fraction": 0.9051,
|
| 518 |
+
"observed_fraction_of_valid": 0.9051,
|
| 519 |
+
"palm_axis_vs_markers_deg": {
|
| 520 |
+
"gsi": 18.54,
|
| 521 |
+
"smplx": 1.77
|
| 522 |
+
},
|
| 523 |
+
"hand_marker_to_mesh_mm": {
|
| 524 |
+
"flat": {
|
| 525 |
+
"median": 7.3,
|
| 526 |
+
"p90": 9.7
|
| 527 |
+
},
|
| 528 |
+
"registered": {
|
| 529 |
+
"median": 6.5,
|
| 530 |
+
"p90": 10.2
|
| 531 |
+
}
|
| 532 |
+
}
|
| 533 |
+
},
|
| 534 |
+
"right": {
|
| 535 |
+
"offset_deg": 19.72,
|
| 536 |
+
"offset_rotvec": [
|
| 537 |
+
0.142,
|
| 538 |
+
-0.0372,
|
| 539 |
+
0.3113
|
| 540 |
+
],
|
| 541 |
+
"dev_deg": {
|
| 542 |
+
"median": 18.89,
|
| 543 |
+
"p90": 36.29
|
| 544 |
+
},
|
| 545 |
+
"samples": 2817,
|
| 546 |
+
"accepted": 2355,
|
| 547 |
+
"wrist_pos_err_mm_median": 52.3,
|
| 548 |
+
"per_camera": {
|
| 549 |
+
"head": {
|
| 550 |
+
"samples": 2817,
|
| 551 |
+
"accepted": 2355,
|
| 552 |
+
"gate_deg": 30.0,
|
| 553 |
+
"offset_deg": 19.72,
|
| 554 |
+
"tier": "primary",
|
| 555 |
+
"dev_deg_median": 18.89,
|
| 556 |
+
"wrist_pos_err_mm_median": 52.3
|
| 557 |
+
}
|
| 558 |
+
},
|
| 559 |
+
"frames_by_state": {
|
| 560 |
+
"ace_sample": 9626,
|
| 561 |
+
"interpolated": 3062,
|
| 562 |
+
"mean_hand": 155,
|
| 563 |
+
"no_body_fit": 0
|
| 564 |
+
},
|
| 565 |
+
"observed_fraction": 0.9879,
|
| 566 |
+
"observed_fraction_of_valid": 0.9879,
|
| 567 |
+
"palm_axis_vs_markers_deg": {
|
| 568 |
+
"gsi": 18.09,
|
| 569 |
+
"smplx": 1.08
|
| 570 |
+
},
|
| 571 |
+
"hand_marker_to_mesh_mm": {
|
| 572 |
+
"flat": {
|
| 573 |
+
"median": 12.8,
|
| 574 |
+
"p90": 17.2
|
| 575 |
+
},
|
| 576 |
+
"registered": {
|
| 577 |
+
"median": 12.7,
|
| 578 |
+
"p90": 16.2
|
| 579 |
+
}
|
| 580 |
+
}
|
| 581 |
+
}
|
| 582 |
+
},
|
| 583 |
+
"max_dev_deg": 30.0,
|
| 584 |
+
"max_gap_s": 1.0,
|
| 585 |
+
"cameras_used": [
|
| 586 |
+
"head"
|
| 587 |
+
],
|
| 588 |
+
"generated_at_utc": "2026-11-03T21:34:46.987698+00:00",
|
| 589 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 590 |
+
"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",
|
| 591 |
+
"wrist_flip_suspect": []
|
| 592 |
+
},
|
| 593 |
"release": {
|
| 594 |
"release_path": "actions/locomanipulation/LM17/session_043",
|
| 595 |
"family": "locomanipulation",
|
| 596 |
"primitive": "LM17",
|
| 597 |
"source_session": "20261019/LM17/20261019_082442_session44"
|
| 598 |
+
},
|
| 599 |
+
"task": {
|
| 600 |
+
"primitive": "LM17",
|
| 601 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 602 |
}
|
| 603 |
}
|
actions/locomanipulation/LM17/session_043/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2be0e2ad3a6ded1bc14ad8223470f251dd43d612bdc1c0724c46540f2c147f08
|
| 3 |
+
size 4148785
|
actions/locomanipulation/LM17/session_043/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:de7c7e7795681ef4fc86b3f65e28329da7011eb44a5666345709126d36c8bb08
|
| 3 |
+
size 9085874
|
actions/locomanipulation/LM17/session_044/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": "LM17",
|
| 6 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 122.966667,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039608840126628186
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "1fc7b41f-bb8a-47b7-b700-6cd34e0528b1",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM17",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 2.635,
|
| 22 |
+
"end_s": 120.658,
|
| 23 |
+
"t_start": 2.6746,
|
| 24 |
+
"t_end": 120.6976,
|
| 25 |
+
"instruction": "Rest the long object on the shoulder the operator calls and carry it across the room, back and forth."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM17/session_044/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,223 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.382
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
+
"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
+
"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye",
|
| 15 |
+
"right"
|
| 16 |
+
],
|
| 17 |
+
"delta_deg": 2.4649,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.546,
|
| 20 |
+
"held_out_px_before": 8.486,
|
| 21 |
+
"inliers": 900,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
2.0538,
|
| 25 |
+
-1.308,
|
| 26 |
+
0.3833
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0219,
|
| 29 |
+
"usable": true
|
| 30 |
+
},
|
| 31 |
+
"left_eye": {
|
| 32 |
+
"accepted": true,
|
| 33 |
+
"against": [
|
| 34 |
+
"left_front",
|
| 35 |
+
"right_front",
|
| 36 |
+
"right_eye",
|
| 37 |
+
"left",
|
| 38 |
+
"right"
|
| 39 |
+
],
|
| 40 |
+
"delta_deg": 0.7738,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.416,
|
| 43 |
+
"held_out_px_before": 3.52,
|
| 44 |
+
"inliers": 2718,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
2.31,
|
| 48 |
+
-11.22,
|
| 49 |
+
7.37
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.446,
|
| 52 |
+
"position_split_mm": 2.214,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
0.0289,
|
| 55 |
+
-0.15,
|
| 56 |
+
0.7586
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.029,
|
| 59 |
+
"usable": true
|
| 60 |
+
},
|
| 61 |
+
"left_front": {
|
| 62 |
+
"role": "rig origin"
|
| 63 |
+
},
|
| 64 |
+
"right": {
|
| 65 |
+
"accepted": true,
|
| 66 |
+
"against": [
|
| 67 |
+
"left_front",
|
| 68 |
+
"right_front",
|
| 69 |
+
"left_eye",
|
| 70 |
+
"right_eye",
|
| 71 |
+
"left"
|
| 72 |
+
],
|
| 73 |
+
"delta_deg": 3.8072,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.488,
|
| 76 |
+
"held_out_px_before": 9.109,
|
| 77 |
+
"inliers": 1765,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
2.1941,
|
| 81 |
+
-0.8874,
|
| 82 |
+
2.9821
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.0616,
|
| 85 |
+
"usable": true
|
| 86 |
+
},
|
| 87 |
+
"right_eye": {
|
| 88 |
+
"accepted": true,
|
| 89 |
+
"against": [
|
| 90 |
+
"left_front",
|
| 91 |
+
"right_front",
|
| 92 |
+
"left_eye",
|
| 93 |
+
"left",
|
| 94 |
+
"right"
|
| 95 |
+
],
|
| 96 |
+
"delta_deg": 1.8778,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.374,
|
| 99 |
+
"held_out_px_before": 6.617,
|
| 100 |
+
"inliers": 3862,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
1.65,
|
| 104 |
+
-11.57,
|
| 105 |
+
6.73
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.334,
|
| 108 |
+
"position_split_mm": 1.334,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
0.3645,
|
| 111 |
+
-0.8507,
|
| 112 |
+
1.6339
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0108,
|
| 115 |
+
"usable": true
|
| 116 |
+
},
|
| 117 |
+
"right_front": {
|
| 118 |
+
"accepted": true,
|
| 119 |
+
"against": [
|
| 120 |
+
"left_front",
|
| 121 |
+
"left_eye",
|
| 122 |
+
"right_eye",
|
| 123 |
+
"left",
|
| 124 |
+
"right"
|
| 125 |
+
],
|
| 126 |
+
"delta_deg": 0.9573,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.365,
|
| 129 |
+
"held_out_px_before": 5.94,
|
| 130 |
+
"inliers": 4334,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
0.7001,
|
| 134 |
+
-0.3827,
|
| 135 |
+
-0.529
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0073,
|
| 138 |
+
"usable": true
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
+
"device_id": "e3296774a321bb51",
|
| 143 |
+
"factory_root_name": "e3296774a321bb51",
|
| 144 |
+
"files": {
|
| 145 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
+
"sha256": "0d1c36a95ff5e3d020d363887f1dad74f4f26c2d1f7e5aa64a0ba20c8ecf171c",
|
| 147 |
+
"source_sha256": "2bf43346f9825da1c051096d46ceb924252959c0c3fed4ac9c166c6096121ae0"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "2bf1c30877b5747b25a6977c44fb64e6d5c4baeb1f4c2adecd70bde473d0bdf9",
|
| 151 |
+
"source_sha256": "b80f390816142bc598f6a58e17810083d07270f17802c79b0d33dade12e1a7ed"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "7fa279678397a3ee9aaa22ea2e92c11f1aee7a46039b06d797f87cb3679c7441",
|
| 155 |
+
"source_sha256": "55ee2a9af25410709c73762b726e1a41e5450b277090a5256571601dd5fd719b"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "7f0af6c3d20c37158387dbf3ae8d8589d061b3e09a5b540b1d6fce8a8f8e495b",
|
| 159 |
+
"source_sha256": "b2fcef709086e19cb082ae12586aebd1a6fa9a92db90015c1c5a641f4588dfc7"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "7a1892a6246219f9",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "3b5dd5c3154f7f0798c1829576faeb4c89f06ddbcf33993bc376116a9b6e4e30",
|
| 165 |
+
"overlap": {
|
| 166 |
+
"left-right": 0.489,
|
| 167 |
+
"left_eye-left": 0.684,
|
| 168 |
+
"left_eye-right": 0.685,
|
| 169 |
+
"left_eye-right_eye": 1.0,
|
| 170 |
+
"left_front-left": 0.466,
|
| 171 |
+
"left_front-left_eye": 0.717,
|
| 172 |
+
"left_front-right": 0.447,
|
| 173 |
+
"left_front-right_eye": 0.72,
|
| 174 |
+
"left_front-right_front": 1.0,
|
| 175 |
+
"right_eye-left": 0.672,
|
| 176 |
+
"right_eye-right": 0.676,
|
| 177 |
+
"right_front-left": 0.469,
|
| 178 |
+
"right_front-left_eye": 0.746,
|
| 179 |
+
"right_front-right": 0.472,
|
| 180 |
+
"right_front-right_eye": 0.74
|
| 181 |
+
},
|
| 182 |
+
"picture_change": {
|
| 183 |
+
"left": 51.765,
|
| 184 |
+
"left_eye": 60.914,
|
| 185 |
+
"left_front": 44.578,
|
| 186 |
+
"right": 41.444,
|
| 187 |
+
"right_eye": 52.962,
|
| 188 |
+
"right_front": 44.413
|
| 189 |
+
},
|
| 190 |
+
"runtime": {
|
| 191 |
+
"numpy": "2.4.6",
|
| 192 |
+
"opencv": "5.0.0",
|
| 193 |
+
"scipy": "1.17.1"
|
| 194 |
+
},
|
| 195 |
+
"segment": 1,
|
| 196 |
+
"selection": {
|
| 197 |
+
"overlap_captures": [
|
| 198 |
+
6145745272000,
|
| 199 |
+
6146745283111,
|
| 200 |
+
6147745272000,
|
| 201 |
+
6148745316444,
|
| 202 |
+
6149745316444,
|
| 203 |
+
6150745283111,
|
| 204 |
+
6151745327555,
|
| 205 |
+
6152745283111,
|
| 206 |
+
6153745272000,
|
| 207 |
+
6154745316444,
|
| 208 |
+
6155745283111,
|
| 209 |
+
6156745294222,
|
| 210 |
+
6157745272000,
|
| 211 |
+
6158745283111,
|
| 212 |
+
6159745316444,
|
| 213 |
+
6160745283111,
|
| 214 |
+
6161745283111,
|
| 215 |
+
6162745283111,
|
| 216 |
+
6163745283111,
|
| 217 |
+
6164745283111,
|
| 218 |
+
6165745283111,
|
| 219 |
+
6166745283111
|
| 220 |
+
]
|
| 221 |
+
},
|
| 222 |
+
"version": 1
|
| 223 |
+
}
|