Release update 2026-11-05: 5760 sessions, instructions, annotations (part 196)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +7 -0
- actions/locomanipulation/LM02/session_040/raw/mocap/LittleBox6.trc +0 -0
- actions/locomanipulation/LM02/session_040/raw/mocap/Table.csv +0 -0
- actions/locomanipulation/LM02/session_040/raw/mocap/Table.trc +0 -0
- actions/locomanipulation/LM02/session_040/raw/mocap/Tracker0.csv +0 -0
- actions/locomanipulation/LM02/session_040/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM02/session_040/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM02/session_040/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM02/session_040/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM02/session_040/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM02/session_040/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM02/session_040/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM02/session_040/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM02/session_040/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM02/session_040/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM02/session_040/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM02/session_040/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM02/session_040/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM02/session_040/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM02/session_040/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM03/session_001/annotations.json +28 -0
- actions/locomanipulation/LM03/session_001/cameras/gsi_online_calibration.json +258 -0
- actions/locomanipulation/LM03/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM03/session_001/meta.json +4 -0
- actions/locomanipulation/LM03/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM03/session_002/annotations.json +28 -0
- actions/locomanipulation/LM03/session_002/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM03/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM03/session_002/meta.json +116 -2
- actions/locomanipulation/LM03/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM03/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM03/session_003/annotations.json +28 -0
- actions/locomanipulation/LM03/session_003/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM03/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM03/session_003/meta.json +116 -2
- actions/locomanipulation/LM03/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM03/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM03/session_004/annotations.json +28 -0
- actions/locomanipulation/LM03/session_004/cameras/gsi_online_calibration.json +255 -0
- actions/locomanipulation/LM03/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM03/session_004/meta.json +116 -2
- actions/locomanipulation/LM03/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM03/session_004/motions/smplx.npz +2 -2
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"instruction": "Pick an object up off the floor, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
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actions/locomanipulation/LM03/session_001/cameras/slam.npz
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 745963
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actions/locomanipulation/LM03/session_001/meta.json
CHANGED
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@@ -640,5 +640,9 @@
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|
| 640 |
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| 642 |
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| 645 |
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| 646 |
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| 647 |
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|
| 648 |
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version https://git-lfs.github.com/spec/v1
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size 4833555
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actions/locomanipulation/LM03/session_002/annotations.json
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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": "LM03",
|
| 6 |
+
"instruction": "Pick an object up off the floor, carry it across the room, and place it on the highest shelf you can comfortably reach. 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": 118.966622,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03909393243086323
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "7bdce1c8-0a07-4d78-bcd6-6f25ce478d11",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM03",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 2.968,
|
| 22 |
+
"end_s": 112.188,
|
| 23 |
+
"t_start": 3.0071,
|
| 24 |
+
"t_end": 112.2271,
|
| 25 |
+
"instruction": "Pick an object up off the floor, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM03/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
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|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.417
|
| 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": 1.0673,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.701,
|
| 19 |
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"held_out_px_before": 5.757,
|
| 20 |
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"inliers": 1805,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
+
-0.2225,
|
| 24 |
+
-0.3153,
|
| 25 |
+
-0.9951
|
| 26 |
+
],
|
| 27 |
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"split_deg": 0.1291,
|
| 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": 2.3368,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
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"held_out_px_after": 0.419,
|
| 42 |
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"held_out_px_before": 5.603,
|
| 43 |
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"inliers": 4172,
|
| 44 |
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"position_fitted": true,
|
| 45 |
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"position_mm": [
|
| 46 |
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7.09,
|
| 47 |
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-15.51,
|
| 48 |
+
7.81
|
| 49 |
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],
|
| 50 |
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"position_sigma_mm": 0.172,
|
| 51 |
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"position_split_mm": 4.332,
|
| 52 |
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"rotvec_deg": [
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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],
|
| 57 |
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"split_deg": 0.1525,
|
| 58 |
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"usable": true
|
| 59 |
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},
|
| 60 |
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"left_front": {
|
| 61 |
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"role": "rig origin"
|
| 62 |
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},
|
| 63 |
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"right": {
|
| 64 |
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"accepted": true,
|
| 65 |
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"against": [
|
| 66 |
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"left_front",
|
| 67 |
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"right_front",
|
| 68 |
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"left_eye",
|
| 69 |
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"right_eye"
|
| 70 |
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],
|
| 71 |
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"delta_deg": 1.3502,
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"inliers": 1983,
|
| 76 |
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"position_fitted": false,
|
| 77 |
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"rotvec_deg": [
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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],
|
| 82 |
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"split_deg": 0.0989,
|
| 83 |
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"usable": true
|
| 84 |
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},
|
| 85 |
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"right_eye": {
|
| 86 |
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"accepted": true,
|
| 87 |
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"against": [
|
| 88 |
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"left_front",
|
| 89 |
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"right_front",
|
| 90 |
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"left_eye",
|
| 91 |
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"left",
|
| 92 |
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"right"
|
| 93 |
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],
|
| 94 |
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"delta_deg": 0.9198,
|
| 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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"position_mm": [
|
| 101 |
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|
| 102 |
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-17.29,
|
| 103 |
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7.95
|
| 104 |
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],
|
| 105 |
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"position_sigma_mm": 0.189,
|
| 106 |
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|
| 107 |
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"rotvec_deg": [
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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],
|
| 112 |
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"split_deg": 0.1529,
|
| 113 |
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|
| 114 |
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},
|
| 115 |
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|
| 116 |
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|
| 117 |
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"against": [
|
| 118 |
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"left_front",
|
| 119 |
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"left_eye",
|
| 120 |
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"right_eye",
|
| 121 |
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"left",
|
| 122 |
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"right"
|
| 123 |
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],
|
| 124 |
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"delta_deg": 2.0158,
|
| 125 |
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"gate_fail": [],
|
| 126 |
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"held_out_px_after": 0.397,
|
| 127 |
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"held_out_px_before": 5.373,
|
| 128 |
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"inliers": 4292,
|
| 129 |
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"position_fitted": false,
|
| 130 |
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"rotvec_deg": [
|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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],
|
| 135 |
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"split_deg": 0.0312,
|
| 136 |
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"usable": true
|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
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"code_fingerprint": "711ecf5b3dd408f8",
|
| 140 |
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"device_id": "e17c9efadb69e7b1",
|
| 141 |
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"factory_root_name": "e17c9efadb69e7b1",
|
| 142 |
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"files": {
|
| 143 |
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"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 144 |
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"sha256": "d459f383693016f496081f5ef07274c26f44d9fa373fa99230308e99eab73d3e",
|
| 145 |
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"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
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},
|
| 147 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
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"sha256": "0df7c8b9d6940498c0b0732163658702aaa51f6e26e474a96583ec63dbd66db2",
|
| 149 |
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"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
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},
|
| 151 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
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"sha256": "88fba7219968cec508896a250fa5c40d8029f292db465d8e9ef3ba336a2ccd47",
|
| 153 |
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|
| 154 |
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},
|
| 155 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
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"sha256": "d7c19d604197026efd254359e406c555ddcce24d2aaefb40dfbc7694e22dc767",
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| 157 |
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| 158 |
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}
|
| 159 |
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},
|
| 160 |
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"input_fingerprint": "febed51d86f8b11c",
|
| 161 |
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"kind": "online_calibration",
|
| 162 |
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"output_sha256": "c81206a8ed4a69b7a7d87877dfa3c89284e5648d9578dca541b9a3b39f7c5978",
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| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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"left_front-right_eye": 0.732,
|
| 171 |
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"left_front-right_front": 1.0,
|
| 172 |
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|
| 173 |
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"right_eye-left_eye": 1.0,
|
| 174 |
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|
| 175 |
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"right_front-left": 0.464,
|
| 176 |
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"right_front-left_eye": 0.723,
|
| 177 |
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|
| 178 |
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"right_front-right_eye": 0.734
|
| 179 |
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},
|
| 180 |
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|
| 181 |
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"left": 41.48,
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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},
|
| 188 |
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actions/locomanipulation/LM03/session_002/cameras/slam.npz
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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actions/locomanipulation/LM03/session_002/meta.json
CHANGED
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@@ -324,8 +324,8 @@
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|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 326 |
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|
| 327 |
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|
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|
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| 330 |
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|
| 331 |
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|
|
@@ -517,10 +517,124 @@
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|
| 517 |
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| 324 |
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| 325 |
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|
| 326 |
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| 327 |
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"observed": true,
|
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| 637 |
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|
| 639 |
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|
| 640 |
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|
actions/locomanipulation/LM03/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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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 10085670
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actions/locomanipulation/LM03/session_003/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
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| 1 |
+
{
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| 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": "LM03",
|
| 6 |
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"instruction": "Pick an object up off the floor, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips.",
|
| 7 |
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{
|
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|
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|
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|
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|
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| 23 |
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"instruction": "Pick an object up off the floor, carry it across the room, and place it on the highest shelf you can comfortably reach. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM03/session_003/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
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actions/locomanipulation/LM03/session_003/cameras/slam.npz
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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CHANGED
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@@ -324,8 +324,8 @@
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|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
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| 326 |
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| 330 |
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|
@@ -512,10 +512,124 @@
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|
| 512 |
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| 513 |
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| 514 |
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|
| 515 |
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| 516 |
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| 517 |
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|
| 518 |
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| 519 |
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|
| 520 |
}
|
| 521 |
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|
|
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|
| 324 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 325 |
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|
| 326 |
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|
| 327 |
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"observed": true,
|
| 328 |
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|
| 330 |
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| 331 |
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|
| 512 |
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{
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|
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|
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|
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| 635 |
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ADDED
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CHANGED
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