Release update 2026-11-05: new sessions, instructions, annotations (part 31)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +19 -0
- actions/locomanipulation/LM44/session_030/raw/mocap/Tracker0.trc +0 -0
- actions/locomanipulation/LM44/session_030/raw/sensors/robocap_imu_left.db +3 -0
- actions/locomanipulation/LM44/session_030/raw/sensors/robocap_imu_right.db +3 -0
- actions/locomanipulation/LM44/session_030/raw/sensors/robocap_mag_middle.db +3 -0
- actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_imu_left.db +3 -0
- actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_imu_right.db +3 -0
- actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_mag_left.db +3 -0
- actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_mag_right.db +3 -0
- actions/locomanipulation/LM44/session_030/sensors/head_imu.npz +3 -0
- actions/locomanipulation/LM44/session_030/sensors/head_mag.npz +3 -0
- actions/locomanipulation/LM44/session_030/sensors/wrist_imu.npz +3 -0
- actions/locomanipulation/LM44/session_030/sensors/wrist_mag.npz +3 -0
- actions/locomanipulation/LM44/session_030/videos/frame_timestamps.npz +3 -0
- actions/locomanipulation/LM44/session_030/videos/head_left.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/head_left_eye.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/head_left_front.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/head_right.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/head_right_eye.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/head_right_front.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/third_person.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/wrist_left.mp4 +3 -0
- actions/locomanipulation/LM44/session_030/videos/wrist_right.mp4 +3 -0
- actions/locomanipulation/LM45/session_001/annotations.json +28 -0
- actions/locomanipulation/LM45/session_001/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM45/session_001/cameras/slam.npz +3 -0
- actions/locomanipulation/LM45/session_001/meta.json +116 -2
- actions/locomanipulation/LM45/session_001/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM45/session_001/motions/smplx.npz +2 -2
- actions/locomanipulation/LM45/session_002/annotations.json +28 -0
- actions/locomanipulation/LM45/session_002/cameras/gsi_online_calibration.json +256 -0
- actions/locomanipulation/LM45/session_002/cameras/slam.npz +3 -0
- actions/locomanipulation/LM45/session_002/meta.json +116 -2
- actions/locomanipulation/LM45/session_002/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM45/session_002/motions/smplx.npz +2 -2
- actions/locomanipulation/LM45/session_003/annotations.json +28 -0
- actions/locomanipulation/LM45/session_003/cameras/gsi_online_calibration.json +253 -0
- actions/locomanipulation/LM45/session_003/cameras/slam.npz +3 -0
- actions/locomanipulation/LM45/session_003/meta.json +116 -2
- actions/locomanipulation/LM45/session_003/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM45/session_003/motions/smplx.npz +2 -2
- actions/locomanipulation/LM45/session_004/annotations.json +28 -0
- actions/locomanipulation/LM45/session_004/cameras/gsi_online_calibration.json +262 -0
- actions/locomanipulation/LM45/session_004/cameras/slam.npz +3 -0
- actions/locomanipulation/LM45/session_004/meta.json +116 -2
- actions/locomanipulation/LM45/session_004/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM45/session_004/motions/smplx.npz +2 -2
- actions/locomanipulation/LM45/session_005/annotations.json +28 -0
- actions/locomanipulation/LM45/session_005/cameras/gsi_online_calibration.json +242 -0
- actions/locomanipulation/LM45/session_005/cameras/slam.npz +3 -0
.gitattributes
CHANGED
|
@@ -45783,3 +45783,22 @@ actions/locomanipulation/LM44/session_029/raw/sensors/robowrist_mag_left.db filt
|
|
| 45783 |
actions/locomanipulation/LM44/session_029/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45784 |
actions/locomanipulation/LM44/session_030/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 45785 |
actions/locomanipulation/LM44/session_030/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 45783 |
actions/locomanipulation/LM44/session_029/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45784 |
actions/locomanipulation/LM44/session_030/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 45785 |
actions/locomanipulation/LM44/session_030/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 45786 |
+
actions/locomanipulation/LM44/session_030/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 45787 |
+
actions/locomanipulation/LM44/session_030/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45788 |
+
actions/locomanipulation/LM44/session_030/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 45789 |
+
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 45790 |
+
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45791 |
+
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 45792 |
+
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45793 |
+
actions/locomanipulation/LM45/session_013/raw/mocap/Body0.bvh filter=lfs diff=lfs merge=lfs -text
|
| 45794 |
+
actions/locomanipulation/LM45/session_013/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 45795 |
+
actions/locomanipulation/LM45/session_013/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
| 45796 |
+
actions/locomanipulation/LM45/session_013/raw/sensors/robocap_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 45797 |
+
actions/locomanipulation/LM45/session_013/raw/sensors/robocap_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45798 |
+
actions/locomanipulation/LM45/session_013/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
|
| 45799 |
+
actions/locomanipulation/LM45/session_013/raw/sensors/robowrist_imu_left.db filter=lfs diff=lfs merge=lfs -text
|
| 45800 |
+
actions/locomanipulation/LM45/session_013/raw/sensors/robowrist_imu_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45801 |
+
actions/locomanipulation/LM45/session_013/raw/sensors/robowrist_mag_left.db filter=lfs diff=lfs merge=lfs -text
|
| 45802 |
+
actions/locomanipulation/LM45/session_013/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
|
| 45803 |
+
actions/locomanipulation/LM45/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
|
| 45804 |
+
actions/locomanipulation/LM45/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
|
actions/locomanipulation/LM44/session_030/raw/mocap/Tracker0.trc
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
actions/locomanipulation/LM44/session_030/raw/sensors/robocap_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6f0d4f02242281534f9e055c13e61f908111abfc3e3a352d0d0e7316a57e6b18
|
| 3 |
+
size 1097728
|
actions/locomanipulation/LM44/session_030/raw/sensors/robocap_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ccdc659547ba40d656a94d9c81a07d80b27fb89787a551883553bc7ca640ad4b
|
| 3 |
+
size 1052672
|
actions/locomanipulation/LM44/session_030/raw/sensors/robocap_mag_middle.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6511f2f8c4b2c4b7cce0c5d15eb69fe222965de2a3285e37949a0d6e91028636
|
| 3 |
+
size 290816
|
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_imu_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7f07995fd8c69302a485b32771367dc7104298deaeaa3ea1b817792be3703407
|
| 3 |
+
size 1036288
|
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_imu_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4919d317db8013850ddd70e18064b969b5a756628e57952304e2e3bb4a658bec
|
| 3 |
+
size 1060864
|
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_mag_left.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e19582b4022a7eff00e160f07a50532c0867a15af4e9f32e13401eb4bbfc55b
|
| 3 |
+
size 278528
|
actions/locomanipulation/LM44/session_030/raw/sensors/robowrist_mag_right.db
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d25d56979399934d51ebe83d9afc5377c620891d0132f70fd6f9cfa1611a458
|
| 3 |
+
size 278528
|
actions/locomanipulation/LM44/session_030/sensors/head_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e3888624f39446d800a90b62ab2066838fa4349eeb75502178c003eb61a7094
|
| 3 |
+
size 1092756
|
actions/locomanipulation/LM44/session_030/sensors/head_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2836e1607a2e1b5a51a7d248f602b97926ba7f35b28bfb59714ba38888d9d0b6
|
| 3 |
+
size 97859
|
actions/locomanipulation/LM44/session_030/sensors/wrist_imu.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e0e0420b685c6aa8368c37ddee18f22cf0b4384ba3aefa782b9a230c200ad0e
|
| 3 |
+
size 1134678
|
actions/locomanipulation/LM44/session_030/sensors/wrist_mag.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ab473876be07b6565c7b603015280d6d5a71aaef63b9475aca17c1416e2bd2a6
|
| 3 |
+
size 221341
|
actions/locomanipulation/LM44/session_030/videos/frame_timestamps.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e26d4382c8517a2b154edbbee015495476223af1ecc59ce79bb16c827c4e6010
|
| 3 |
+
size 223231
|
actions/locomanipulation/LM44/session_030/videos/head_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:03bb32d13b089edea5bf4ee13bf208e3dbc3c73049ad48efd8c7b97aa55210ae
|
| 3 |
+
size 53392614
|
actions/locomanipulation/LM44/session_030/videos/head_left_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4e8d9895bc7dfa1ec15bae8826950a843311a277bfebe08473e6e692da578d85
|
| 3 |
+
size 53444466
|
actions/locomanipulation/LM44/session_030/videos/head_left_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7ba0cd03e281e4cad3a64ad00549055a7934f73b12f22b36071077fcb10f3e9a
|
| 3 |
+
size 53439383
|
actions/locomanipulation/LM44/session_030/videos/head_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d96dcd18ec8f4635f61d2e98f1add032d3936255d099b363d359fe5932ecbd36
|
| 3 |
+
size 53386249
|
actions/locomanipulation/LM44/session_030/videos/head_right_eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e8b7ed16957a12bd6d1bb754b63c50077dd88cc048c6a224fce9d46dfb3aa332
|
| 3 |
+
size 53416225
|
actions/locomanipulation/LM44/session_030/videos/head_right_front.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eff66a760129e31b596cf8215efd01801e1dc82c7a02dd56e4417a4add371746
|
| 3 |
+
size 53471961
|
actions/locomanipulation/LM44/session_030/videos/third_person.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e770c0bfa184def83ed4d960822088927e3343553b23cf0ac73cd5cbd6d57b38
|
| 3 |
+
size 33785343
|
actions/locomanipulation/LM44/session_030/videos/wrist_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c21160742e5592454147dd2358c11f222fb6c5a0cced6737a0cb67847549002
|
| 3 |
+
size 34990193
|
actions/locomanipulation/LM44/session_030/videos/wrist_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1fcde749506e7922d195868647aacfc50f26078d7a88ff3aed7b5e89bbd5bb99
|
| 3 |
+
size 36070476
|
actions/locomanipulation/LM45/session_001/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": "LM45",
|
| 6 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. 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": 108.966756,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03889821819085171
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "434646d7-4b80-402f-919f-131a97781233",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM45",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 104.222,
|
| 23 |
+
"t_start": 0.0389,
|
| 24 |
+
"t_end": 104.2609,
|
| 25 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM45/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.419
|
| 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": 0.8775,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.48,
|
| 19 |
+
"held_out_px_before": 3.813,
|
| 20 |
+
"inliers": 3171,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.3856,
|
| 24 |
+
-0.3515,
|
| 25 |
+
-0.7055
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0873,
|
| 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": 1.8513,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.422,
|
| 42 |
+
"held_out_px_before": 6.059,
|
| 43 |
+
"inliers": 4961,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
6.66,
|
| 47 |
+
-16.67,
|
| 48 |
+
4.21
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.2,
|
| 51 |
+
"position_split_mm": 1.508,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
0.0622,
|
| 54 |
+
0.5405,
|
| 55 |
+
-1.7696
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0945,
|
| 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": 1.178,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.7,
|
| 74 |
+
"held_out_px_before": 3.708,
|
| 75 |
+
"inliers": 1901,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.1262,
|
| 79 |
+
-0.3053,
|
| 80 |
+
-0.162
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.1507,
|
| 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": 0.7236,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.388,
|
| 97 |
+
"held_out_px_before": 2.966,
|
| 98 |
+
"inliers": 4847,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
7.81,
|
| 102 |
+
-17.72,
|
| 103 |
+
4.46
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.223,
|
| 106 |
+
"position_split_mm": 1.717,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
0.2858,
|
| 109 |
+
-0.5119,
|
| 110 |
+
-0.4241
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0885,
|
| 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": 1.3396,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.388,
|
| 127 |
+
"held_out_px_before": 4.046,
|
| 128 |
+
"inliers": 3560,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.3857,
|
| 132 |
+
-0.0505,
|
| 133 |
+
-1.2819
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0133,
|
| 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": "39a3ff845cf0b2a64c20c2a7d74000f592068a0b87917f5fb323f9236c00b793",
|
| 145 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "9d5bb241e5789aa2df55561eb5de0e5402d25ec4bb38c32060b61906c28edbcb",
|
| 149 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "d97659d98f65d93fcd70b07a6d578217fc8a364ba179e47ea4ab75bde6ba86e4",
|
| 153 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "08e5e609684e108273aeb83608921b9d1eec3807fed863c0cbf4877af39a6d2a",
|
| 157 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "0d76ff7b33bdda06",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "dc71640588b6e971428254f93f0702d459aec94f336bbc483a3813cd8ef0ed81",
|
| 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": 46.881,
|
| 182 |
+
"left_eye": 54.346,
|
| 183 |
+
"left_front": 52.949,
|
| 184 |
+
"right": 45.618,
|
| 185 |
+
"right_eye": 55.076,
|
| 186 |
+
"right_front": 50.531
|
| 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 |
+
24042395316000,
|
| 197 |
+
24043395338222,
|
| 198 |
+
24047395349333,
|
| 199 |
+
24048395404888,
|
| 200 |
+
24052395316000,
|
| 201 |
+
24053395316000,
|
| 202 |
+
24055395316000,
|
| 203 |
+
24056395327111,
|
| 204 |
+
24057395338222,
|
| 205 |
+
24061395316000,
|
| 206 |
+
24062395327111,
|
| 207 |
+
24064395327111,
|
| 208 |
+
24065395327111,
|
| 209 |
+
24070395304888,
|
| 210 |
+
24071395327111,
|
| 211 |
+
24072395382666,
|
| 212 |
+
24074395327111,
|
| 213 |
+
24075395327111,
|
| 214 |
+
24078395371555,
|
| 215 |
+
24079395316000,
|
| 216 |
+
24083395327111,
|
| 217 |
+
24084395338222,
|
| 218 |
+
24085395316000,
|
| 219 |
+
24088395382666,
|
| 220 |
+
24089395371555,
|
| 221 |
+
24092395327111,
|
| 222 |
+
24093395327111,
|
| 223 |
+
24097395371555,
|
| 224 |
+
24098395338222,
|
| 225 |
+
24099395316000,
|
| 226 |
+
24100395382666,
|
| 227 |
+
24102395338222,
|
| 228 |
+
24103395327111,
|
| 229 |
+
24105395327111,
|
| 230 |
+
24106395360444,
|
| 231 |
+
24110395371555,
|
| 232 |
+
24111395327111,
|
| 233 |
+
24112395327111,
|
| 234 |
+
24113395338222,
|
| 235 |
+
24117395482666,
|
| 236 |
+
24118395371555,
|
| 237 |
+
24121395316000,
|
| 238 |
+
24122395371555,
|
| 239 |
+
24123395349333,
|
| 240 |
+
24124395316000,
|
| 241 |
+
24127395316000,
|
| 242 |
+
24128395360444,
|
| 243 |
+
24130395338222,
|
| 244 |
+
24131395371555,
|
| 245 |
+
24134395327111,
|
| 246 |
+
24135395327111,
|
| 247 |
+
24138395327111,
|
| 248 |
+
24139395304888,
|
| 249 |
+
24142395371555,
|
| 250 |
+
24143395449333,
|
| 251 |
+
24145395316000,
|
| 252 |
+
24146395382666
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"version": 1
|
| 256 |
+
}
|
actions/locomanipulation/LM45/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a5cd1055023bab0e7712a07d2a81a230b2ba0ea9d71b56471e8b53e52ae0229c
|
| 3 |
+
size 630552
|
actions/locomanipulation/LM45/session_001/meta.json
CHANGED
|
@@ -326,8 +326,8 @@
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
-
"observed":
|
| 330 |
-
"hand_pose": "
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
@@ -511,10 +511,124 @@
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 1.205468904488161
|
| 513 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 514 |
"release": {
|
| 515 |
"release_path": "actions/locomanipulation/LM45/session_001",
|
| 516 |
"family": "locomanipulation",
|
| 517 |
"primitive": "LM45",
|
| 518 |
"source_session": "20260915/LM45/20260915_072203_session81"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 519 |
}
|
| 520 |
}
|
|
|
|
| 326 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 327 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 328 |
"hands": {
|
| 329 |
+
"observed": true,
|
| 330 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 331 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 332 |
"hand_marker_offsets_m": {
|
| 333 |
"left": {
|
|
|
|
| 511 |
"generated_by": "scripts/correct_processed_rig.py",
|
| 512 |
"remaining_gyro_frame_deg": 1.205468904488161
|
| 513 |
},
|
| 514 |
+
"hands_registration": {
|
| 515 |
+
"cameras": {},
|
| 516 |
+
"hands": {
|
| 517 |
+
"left": {
|
| 518 |
+
"offset_deg": 14.1,
|
| 519 |
+
"offset_rotvec": [
|
| 520 |
+
-0.12,
|
| 521 |
+
0.1743,
|
| 522 |
+
-0.1257
|
| 523 |
+
],
|
| 524 |
+
"dev_deg": {
|
| 525 |
+
"median": 14.11,
|
| 526 |
+
"p90": 31.64
|
| 527 |
+
},
|
| 528 |
+
"samples": 3182,
|
| 529 |
+
"accepted": 2816,
|
| 530 |
+
"wrist_pos_err_mm_median": 33.8,
|
| 531 |
+
"per_camera": {
|
| 532 |
+
"head": {
|
| 533 |
+
"samples": 3182,
|
| 534 |
+
"accepted": 2816,
|
| 535 |
+
"gate_deg": 30.0,
|
| 536 |
+
"offset_deg": 14.1,
|
| 537 |
+
"tier": "primary",
|
| 538 |
+
"dev_deg_median": 14.11,
|
| 539 |
+
"wrist_pos_err_mm_median": 33.8
|
| 540 |
+
}
|
| 541 |
+
},
|
| 542 |
+
"frames_by_state": {
|
| 543 |
+
"ace_sample": 11332,
|
| 544 |
+
"interpolated": 1192,
|
| 545 |
+
"mean_hand": 560,
|
| 546 |
+
"no_body_fit": 0
|
| 547 |
+
},
|
| 548 |
+
"observed_fraction": 0.9572,
|
| 549 |
+
"observed_fraction_of_valid": 0.9572,
|
| 550 |
+
"palm_axis_vs_markers_deg": {
|
| 551 |
+
"gsi": 17.4,
|
| 552 |
+
"smplx": 1.92
|
| 553 |
+
},
|
| 554 |
+
"hand_marker_to_mesh_mm": {
|
| 555 |
+
"flat": {
|
| 556 |
+
"median": 8.0,
|
| 557 |
+
"p90": 13.3
|
| 558 |
+
},
|
| 559 |
+
"registered": {
|
| 560 |
+
"median": 7.7,
|
| 561 |
+
"p90": 11.8
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
},
|
| 565 |
+
"right": {
|
| 566 |
+
"offset_deg": 9.68,
|
| 567 |
+
"offset_rotvec": [
|
| 568 |
+
0.0038,
|
| 569 |
+
-0.1376,
|
| 570 |
+
0.0979
|
| 571 |
+
],
|
| 572 |
+
"dev_deg": {
|
| 573 |
+
"median": 11.94,
|
| 574 |
+
"p90": 23.15
|
| 575 |
+
},
|
| 576 |
+
"samples": 3113,
|
| 577 |
+
"accepted": 2951,
|
| 578 |
+
"wrist_pos_err_mm_median": 36.9,
|
| 579 |
+
"per_camera": {
|
| 580 |
+
"head": {
|
| 581 |
+
"samples": 3113,
|
| 582 |
+
"accepted": 2951,
|
| 583 |
+
"gate_deg": 30.0,
|
| 584 |
+
"offset_deg": 9.68,
|
| 585 |
+
"tier": "primary",
|
| 586 |
+
"dev_deg_median": 11.94,
|
| 587 |
+
"wrist_pos_err_mm_median": 36.9
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"frames_by_state": {
|
| 591 |
+
"ace_sample": 11852,
|
| 592 |
+
"interpolated": 888,
|
| 593 |
+
"mean_hand": 344,
|
| 594 |
+
"no_body_fit": 0
|
| 595 |
+
},
|
| 596 |
+
"observed_fraction": 0.9737,
|
| 597 |
+
"observed_fraction_of_valid": 0.9737,
|
| 598 |
+
"palm_axis_vs_markers_deg": {
|
| 599 |
+
"gsi": 14.34,
|
| 600 |
+
"smplx": 3.61
|
| 601 |
+
},
|
| 602 |
+
"hand_marker_to_mesh_mm": {
|
| 603 |
+
"flat": {
|
| 604 |
+
"median": 10.7,
|
| 605 |
+
"p90": 16.5
|
| 606 |
+
},
|
| 607 |
+
"registered": {
|
| 608 |
+
"median": 9.8,
|
| 609 |
+
"p90": 14.3
|
| 610 |
+
}
|
| 611 |
+
}
|
| 612 |
+
}
|
| 613 |
+
},
|
| 614 |
+
"max_dev_deg": 30.0,
|
| 615 |
+
"max_gap_s": 1.0,
|
| 616 |
+
"cameras_used": [
|
| 617 |
+
"head"
|
| 618 |
+
],
|
| 619 |
+
"generated_at_utc": "2026-11-03T19:52:52.021007+00:00",
|
| 620 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 621 |
+
"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",
|
| 622 |
+
"wrist_flip_suspect": []
|
| 623 |
+
},
|
| 624 |
"release": {
|
| 625 |
"release_path": "actions/locomanipulation/LM45/session_001",
|
| 626 |
"family": "locomanipulation",
|
| 627 |
"primitive": "LM45",
|
| 628 |
"source_session": "20260915/LM45/20260915_072203_session81"
|
| 629 |
+
},
|
| 630 |
+
"task": {
|
| 631 |
+
"primitive": "LM45",
|
| 632 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 633 |
}
|
| 634 |
}
|
actions/locomanipulation/LM45/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3e147127545bff763d370628642af3d4444ce75fa25e3c3e13898d24886dcd8a
|
| 3 |
+
size 4268040
|
actions/locomanipulation/LM45/session_001/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 sha256:94e170da17dcd1aeb2471b6dbd21a25a231cbefae0b2e3b590fd74fbc07ee895
|
| 3 |
+
size 9327522
|
actions/locomanipulation/LM45/session_002/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": "LM45",
|
| 6 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. 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": 130.899989,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03999022601998789
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "9d3ef71b-824b-4b2c-b7bf-81693b6fde44",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM45",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 2.952,
|
| 22 |
+
"end_s": 127.248,
|
| 23 |
+
"t_start": 2.992,
|
| 24 |
+
"t_end": 127.288,
|
| 25 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM45/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,256 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.43
|
| 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": 1.3709,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.639,
|
| 19 |
+
"held_out_px_before": 18.495,
|
| 20 |
+
"inliers": 1218,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-1.2098,
|
| 24 |
+
-0.0031,
|
| 25 |
+
-0.6446
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.024,
|
| 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": 0.604,
|
| 42 |
+
"held_out_px_before": 8.203,
|
| 43 |
+
"inliers": 2727,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
-1.22,
|
| 47 |
+
-26.24,
|
| 48 |
+
-2.6
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.158,
|
| 51 |
+
"position_split_mm": 0.654,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
1.6646,
|
| 54 |
+
-0.6329,
|
| 55 |
+
1.55
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.0665,
|
| 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": 3.2841,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.614,
|
| 74 |
+
"held_out_px_before": 5.985,
|
| 75 |
+
"inliers": 1558,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.5945,
|
| 79 |
+
-1.3042,
|
| 80 |
+
2.5577
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0617,
|
| 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": 3.2438,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.374,
|
| 97 |
+
"held_out_px_before": 4.924,
|
| 98 |
+
"inliers": 3302,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
1.16,
|
| 102 |
+
-22.69,
|
| 103 |
+
-0.91
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.145,
|
| 106 |
+
"position_split_mm": 0.298,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
1.9393,
|
| 109 |
+
-1.1292,
|
| 110 |
+
2.3422
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0329,
|
| 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": 0.3699,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.368,
|
| 127 |
+
"held_out_px_before": 2.218,
|
| 128 |
+
"inliers": 3779,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
0.2259,
|
| 132 |
+
-0.2823,
|
| 133 |
+
0.0782
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0281,
|
| 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": "c427478342bd7bc06c07054348f9517437d31dced0f9d90351a84795ff471448",
|
| 145 |
+
"source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "3a6642c49a83b89c83818329878a4f99f98a6ef04c2b45cd3c8f229a662faf99",
|
| 149 |
+
"source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "ae28d52029654bacb436b92c8e77d2e1c1ce11fcb3e7999d93d56616ed4fbb89",
|
| 153 |
+
"source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "6ea095c8a988cba952accdaceeff896163fe20f7e3cf76f0702857e622db55ca",
|
| 157 |
+
"source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "6839d2aac7c17738",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "9130bada0b769e213824a1d934d2084fb20633a402cf80729f7ac256a64e7bd5",
|
| 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": 44.825,
|
| 182 |
+
"left_eye": 48.165,
|
| 183 |
+
"left_front": 53.83,
|
| 184 |
+
"right": 41.412,
|
| 185 |
+
"right_eye": 47.904,
|
| 186 |
+
"right_front": 55.536
|
| 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 |
+
9565524191444,
|
| 197 |
+
9566524224777,
|
| 198 |
+
9572524235888,
|
| 199 |
+
9573524235888,
|
| 200 |
+
9574524235888,
|
| 201 |
+
9575524247000,
|
| 202 |
+
9579524213666,
|
| 203 |
+
9580524202555,
|
| 204 |
+
9585524213666,
|
| 205 |
+
9586524213666,
|
| 206 |
+
9588524191444,
|
| 207 |
+
9589524213666,
|
| 208 |
+
9593524280333,
|
| 209 |
+
9594524224777,
|
| 210 |
+
9595524224777,
|
| 211 |
+
9596524335888,
|
| 212 |
+
9602524224777,
|
| 213 |
+
9603524202555,
|
| 214 |
+
9607524202555,
|
| 215 |
+
9608524213666,
|
| 216 |
+
9609524202555,
|
| 217 |
+
9610524224777,
|
| 218 |
+
9613524280333,
|
| 219 |
+
9614524224777,
|
| 220 |
+
9620524213666,
|
| 221 |
+
9621524202555,
|
| 222 |
+
9622524224777,
|
| 223 |
+
9627524191444,
|
| 224 |
+
9628524224777,
|
| 225 |
+
9629524213666,
|
| 226 |
+
9630524202555,
|
| 227 |
+
9634524202555,
|
| 228 |
+
9635524247000,
|
| 229 |
+
9638524224777,
|
| 230 |
+
9639524347000,
|
| 231 |
+
9645524191444,
|
| 232 |
+
9646524335888,
|
| 233 |
+
9647524335888,
|
| 234 |
+
9652524258111,
|
| 235 |
+
9653524347000,
|
| 236 |
+
9655524247000,
|
| 237 |
+
9656524202555,
|
| 238 |
+
9662524235888,
|
| 239 |
+
9663524291444,
|
| 240 |
+
9664524224777,
|
| 241 |
+
9667524347000,
|
| 242 |
+
9668524224777,
|
| 243 |
+
9674524191444,
|
| 244 |
+
9675524347000,
|
| 245 |
+
9678524224777,
|
| 246 |
+
9679524202555,
|
| 247 |
+
9680524213666,
|
| 248 |
+
9681524202555,
|
| 249 |
+
9685524202555,
|
| 250 |
+
9686524335888,
|
| 251 |
+
9690524213666,
|
| 252 |
+
9691524202555
|
| 253 |
+
]
|
| 254 |
+
},
|
| 255 |
+
"version": 1
|
| 256 |
+
}
|
actions/locomanipulation/LM45/session_002/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d5513abe993f2c695134b485007bd2fdb62b0982288fc8048e340ccaed744c0
|
| 3 |
+
size 754354
|
actions/locomanipulation/LM45/session_002/meta.json
CHANGED
|
@@ -380,8 +380,8 @@
|
|
| 380 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 381 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 382 |
"hands": {
|
| 383 |
-
"observed":
|
| 384 |
-
"hand_pose": "
|
| 385 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 386 |
"hand_marker_offsets_m": {
|
| 387 |
"left": {
|
|
@@ -578,12 +578,126 @@
|
|
| 578 |
},
|
| 579 |
"applied": 1
|
| 580 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 581 |
"release": {
|
| 582 |
"release_path": "actions/locomanipulation/LM45/session_002",
|
| 583 |
"family": "locomanipulation",
|
| 584 |
"primitive": "LM45",
|
| 585 |
"source_session": "20261016/LM45/20261016_111217_session21"
|
| 586 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
| 587 |
"objects": [
|
| 588 |
{
|
| 589 |
"name": "LittleBox1",
|
|
|
|
| 380 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 381 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 382 |
"hands": {
|
| 383 |
+
"observed": true,
|
| 384 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 385 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 386 |
"hand_marker_offsets_m": {
|
| 387 |
"left": {
|
|
|
|
| 578 |
},
|
| 579 |
"applied": 1
|
| 580 |
},
|
| 581 |
+
"hands_registration": {
|
| 582 |
+
"cameras": {},
|
| 583 |
+
"hands": {
|
| 584 |
+
"left": {
|
| 585 |
+
"offset_deg": 9.72,
|
| 586 |
+
"offset_rotvec": [
|
| 587 |
+
-0.1601,
|
| 588 |
+
-0.0204,
|
| 589 |
+
0.0519
|
| 590 |
+
],
|
| 591 |
+
"dev_deg": {
|
| 592 |
+
"median": 15.7,
|
| 593 |
+
"p90": 173.29
|
| 594 |
+
},
|
| 595 |
+
"samples": 3715,
|
| 596 |
+
"accepted": 2506,
|
| 597 |
+
"wrist_pos_err_mm_median": 39.2,
|
| 598 |
+
"per_camera": {
|
| 599 |
+
"head": {
|
| 600 |
+
"samples": 3715,
|
| 601 |
+
"accepted": 2506,
|
| 602 |
+
"gate_deg": 30.0,
|
| 603 |
+
"offset_deg": 9.72,
|
| 604 |
+
"tier": "primary",
|
| 605 |
+
"dev_deg_median": 15.7,
|
| 606 |
+
"wrist_pos_err_mm_median": 39.2
|
| 607 |
+
}
|
| 608 |
+
},
|
| 609 |
+
"frames_by_state": {
|
| 610 |
+
"ace_sample": 10055,
|
| 611 |
+
"interpolated": 632,
|
| 612 |
+
"mean_hand": 5021,
|
| 613 |
+
"no_body_fit": 8
|
| 614 |
+
},
|
| 615 |
+
"observed_fraction": 0.68,
|
| 616 |
+
"observed_fraction_of_valid": 0.6804,
|
| 617 |
+
"palm_axis_vs_markers_deg": {
|
| 618 |
+
"gsi": 18.65,
|
| 619 |
+
"smplx": NaN
|
| 620 |
+
},
|
| 621 |
+
"hand_marker_to_mesh_mm": {
|
| 622 |
+
"flat": {
|
| 623 |
+
"median": NaN,
|
| 624 |
+
"p90": NaN
|
| 625 |
+
},
|
| 626 |
+
"registered": {
|
| 627 |
+
"median": NaN,
|
| 628 |
+
"p90": NaN
|
| 629 |
+
}
|
| 630 |
+
}
|
| 631 |
+
},
|
| 632 |
+
"right": {
|
| 633 |
+
"offset_deg": 7.71,
|
| 634 |
+
"offset_rotvec": [
|
| 635 |
+
0.0231,
|
| 636 |
+
0.0216,
|
| 637 |
+
0.1308
|
| 638 |
+
],
|
| 639 |
+
"dev_deg": {
|
| 640 |
+
"median": 11.57,
|
| 641 |
+
"p90": 26.65
|
| 642 |
+
},
|
| 643 |
+
"samples": 3647,
|
| 644 |
+
"accepted": 3353,
|
| 645 |
+
"wrist_pos_err_mm_median": 50.7,
|
| 646 |
+
"per_camera": {
|
| 647 |
+
"head": {
|
| 648 |
+
"samples": 3647,
|
| 649 |
+
"accepted": 3353,
|
| 650 |
+
"gate_deg": 30.0,
|
| 651 |
+
"offset_deg": 7.71,
|
| 652 |
+
"tier": "primary",
|
| 653 |
+
"dev_deg_median": 11.57,
|
| 654 |
+
"wrist_pos_err_mm_median": 50.7
|
| 655 |
+
}
|
| 656 |
+
},
|
| 657 |
+
"frames_by_state": {
|
| 658 |
+
"ace_sample": 13469,
|
| 659 |
+
"interpolated": 886,
|
| 660 |
+
"mean_hand": 1353,
|
| 661 |
+
"no_body_fit": 8
|
| 662 |
+
},
|
| 663 |
+
"observed_fraction": 0.9134,
|
| 664 |
+
"observed_fraction_of_valid": 0.9139,
|
| 665 |
+
"palm_axis_vs_markers_deg": {
|
| 666 |
+
"gsi": 10.77,
|
| 667 |
+
"smplx": 3.53
|
| 668 |
+
},
|
| 669 |
+
"hand_marker_to_mesh_mm": {
|
| 670 |
+
"flat": {
|
| 671 |
+
"median": 6.2,
|
| 672 |
+
"p90": 8.7
|
| 673 |
+
},
|
| 674 |
+
"registered": {
|
| 675 |
+
"median": 6.6,
|
| 676 |
+
"p90": 10.3
|
| 677 |
+
}
|
| 678 |
+
}
|
| 679 |
+
}
|
| 680 |
+
},
|
| 681 |
+
"max_dev_deg": 30.0,
|
| 682 |
+
"max_gap_s": 1.0,
|
| 683 |
+
"cameras_used": [
|
| 684 |
+
"head"
|
| 685 |
+
],
|
| 686 |
+
"generated_at_utc": "2026-11-03T21:47:47.533735+00:00",
|
| 687 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 688 |
+
"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",
|
| 689 |
+
"wrist_flip_suspect": []
|
| 690 |
+
},
|
| 691 |
"release": {
|
| 692 |
"release_path": "actions/locomanipulation/LM45/session_002",
|
| 693 |
"family": "locomanipulation",
|
| 694 |
"primitive": "LM45",
|
| 695 |
"source_session": "20261016/LM45/20261016_111217_session21"
|
| 696 |
},
|
| 697 |
+
"task": {
|
| 698 |
+
"primitive": "LM45",
|
| 699 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 700 |
+
},
|
| 701 |
"objects": [
|
| 702 |
{
|
| 703 |
"name": "LittleBox1",
|
actions/locomanipulation/LM45/session_002/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e538c90199e1d4a5206f372f1480d8d3ca3efc81650f41709d223a44b23de4e6
|
| 3 |
+
size 4995720
|
actions/locomanipulation/LM45/session_002/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 sha256:84a715895917729a6ec9281c5e96acc337482f1fbbd8ecdd14b034fbb8beb7c9
|
| 3 |
+
size 10359087
|
actions/locomanipulation/LM45/session_003/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": "LM45",
|
| 6 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. 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": 126.899967,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.03938421614968128
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "62727af0-de9f-410f-aefa-9ab1ec465f6b",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM45",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.888,
|
| 22 |
+
"end_s": 123.767,
|
| 23 |
+
"t_start": 1.9274,
|
| 24 |
+
"t_end": 123.8064,
|
| 25 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM45/session_003/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,253 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 1.3386,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.709,
|
| 19 |
+
"held_out_px_before": 19.442,
|
| 20 |
+
"inliers": 1294,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
-1.1124,
|
| 24 |
+
-0.093,
|
| 25 |
+
-0.7387
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0949,
|
| 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": 2.425,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.44,
|
| 42 |
+
"held_out_px_before": 7.509,
|
| 43 |
+
"inliers": 3478,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
-0.73,
|
| 47 |
+
-25.99,
|
| 48 |
+
-2.48
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.149,
|
| 51 |
+
"position_split_mm": 1.405,
|
| 52 |
+
"rotvec_deg": [
|
| 53 |
+
1.7568,
|
| 54 |
+
-0.6872,
|
| 55 |
+
1.5238
|
| 56 |
+
],
|
| 57 |
+
"split_deg": 0.064,
|
| 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": 3.2446,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.766,
|
| 74 |
+
"held_out_px_before": 7.623,
|
| 75 |
+
"inliers": 1582,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
+
"rotvec_deg": [
|
| 78 |
+
1.5516,
|
| 79 |
+
-1.2358,
|
| 80 |
+
2.5676
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.0595,
|
| 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": 3.211,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
+
"held_out_px_after": 0.485,
|
| 97 |
+
"held_out_px_before": 4.745,
|
| 98 |
+
"inliers": 3254,
|
| 99 |
+
"position_fitted": true,
|
| 100 |
+
"position_mm": [
|
| 101 |
+
1.83,
|
| 102 |
+
-22.85,
|
| 103 |
+
-1.11
|
| 104 |
+
],
|
| 105 |
+
"position_sigma_mm": 0.147,
|
| 106 |
+
"position_split_mm": 0.324,
|
| 107 |
+
"rotvec_deg": [
|
| 108 |
+
1.904,
|
| 109 |
+
-1.1913,
|
| 110 |
+
2.2948
|
| 111 |
+
],
|
| 112 |
+
"split_deg": 0.0602,
|
| 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": 0.4039,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
+
"held_out_px_after": 0.428,
|
| 127 |
+
"held_out_px_before": 2.629,
|
| 128 |
+
"inliers": 3543,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
0.2523,
|
| 132 |
+
-0.307,
|
| 133 |
+
0.0725
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.081,
|
| 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": "cf461175dead3ffe577f36852b3764ed5f1a36861f09d44009806c13891c15a5",
|
| 145 |
+
"source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
|
| 146 |
+
},
|
| 147 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "8a727dce1399f7da9452d01b71f4d2f70ee81e14c69c7dd54a9fa5935fb1d4bd",
|
| 149 |
+
"source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "95fe703994879f33d8ae6148b2fe87fbaff0c03bbe2f4a44392de5d5726a1994",
|
| 153 |
+
"source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "7b344771174a86bf3d10244a22a36e630408da81bbafd95b8330ebeaf4cf9e5e",
|
| 157 |
+
"source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
|
| 158 |
+
}
|
| 159 |
+
},
|
| 160 |
+
"input_fingerprint": "db05bbc3e718e7e6",
|
| 161 |
+
"kind": "online_calibration",
|
| 162 |
+
"output_sha256": "8fdbec5b378eae32fd797bffe90277099bae0f325de834d0285a0f6aaaf24fee",
|
| 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": 47.182,
|
| 182 |
+
"left_eye": 52.612,
|
| 183 |
+
"left_front": 52.705,
|
| 184 |
+
"right": 43.598,
|
| 185 |
+
"right_eye": 53.623,
|
| 186 |
+
"right_front": 51.923
|
| 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 |
+
9728887498555,
|
| 197 |
+
9729887509666,
|
| 198 |
+
9732887520777,
|
| 199 |
+
9733887498555,
|
| 200 |
+
9736887531888,
|
| 201 |
+
9737887631888,
|
| 202 |
+
9738887520777,
|
| 203 |
+
9740887520777,
|
| 204 |
+
9741887631888,
|
| 205 |
+
9743887531888,
|
| 206 |
+
9744887531888,
|
| 207 |
+
9747887498555,
|
| 208 |
+
9748887520777,
|
| 209 |
+
9750887487444,
|
| 210 |
+
9751887520777,
|
| 211 |
+
9752887498555,
|
| 212 |
+
9754887520777,
|
| 213 |
+
9755887498555,
|
| 214 |
+
9757887498555,
|
| 215 |
+
9758887498555,
|
| 216 |
+
9760887643000,
|
| 217 |
+
9761887487444,
|
| 218 |
+
9764887498555,
|
| 219 |
+
9765887498555,
|
| 220 |
+
9767887498555,
|
| 221 |
+
9768887665222,
|
| 222 |
+
9770887498555,
|
| 223 |
+
9771887498555,
|
| 224 |
+
9772887509666,
|
| 225 |
+
9773887509666,
|
| 226 |
+
9774887520777,
|
| 227 |
+
9778887498555,
|
| 228 |
+
9779887498555,
|
| 229 |
+
9780887487444,
|
| 230 |
+
9781887487444,
|
| 231 |
+
9782887487444,
|
| 232 |
+
9783887520777,
|
| 233 |
+
9786887520777,
|
| 234 |
+
9787887487444,
|
| 235 |
+
9789887498555,
|
| 236 |
+
9790887631888,
|
| 237 |
+
9791887498555,
|
| 238 |
+
9794887587444,
|
| 239 |
+
9795887520777,
|
| 240 |
+
9796887654111,
|
| 241 |
+
9797887643000,
|
| 242 |
+
9800887487444,
|
| 243 |
+
9801887643000,
|
| 244 |
+
9802887531888,
|
| 245 |
+
9806887643000,
|
| 246 |
+
9807887498555,
|
| 247 |
+
9809887565222,
|
| 248 |
+
9810887520777,
|
| 249 |
+
9811887631888
|
| 250 |
+
]
|
| 251 |
+
},
|
| 252 |
+
"version": 1
|
| 253 |
+
}
|
actions/locomanipulation/LM45/session_003/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0345c2c16a44056794bd373ccefe323f23f2a993ea4a75ed6936e92a6b1c4ac4
|
| 3 |
+
size 731994
|
actions/locomanipulation/LM45/session_003/meta.json
CHANGED
|
@@ -377,8 +377,8 @@
|
|
| 377 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 378 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 379 |
"hands": {
|
| 380 |
-
"observed":
|
| 381 |
-
"hand_pose": "
|
| 382 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 383 |
"hand_marker_offsets_m": {
|
| 384 |
"left": {
|
|
@@ -559,12 +559,126 @@
|
|
| 559 |
},
|
| 560 |
"applied": 1
|
| 561 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 562 |
"release": {
|
| 563 |
"release_path": "actions/locomanipulation/LM45/session_003",
|
| 564 |
"family": "locomanipulation",
|
| 565 |
"primitive": "LM45",
|
| 566 |
"source_session": "20261016/LM45/20261016_111502_session22"
|
| 567 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
| 568 |
"objects": [
|
| 569 |
{
|
| 570 |
"name": "LittleBox1",
|
|
|
|
| 377 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 378 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 379 |
"hands": {
|
| 380 |
+
"observed": true,
|
| 381 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 382 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 383 |
"hand_marker_offsets_m": {
|
| 384 |
"left": {
|
|
|
|
| 559 |
},
|
| 560 |
"applied": 1
|
| 561 |
},
|
| 562 |
+
"hands_registration": {
|
| 563 |
+
"cameras": {},
|
| 564 |
+
"hands": {
|
| 565 |
+
"left": {
|
| 566 |
+
"offset_deg": 14.66,
|
| 567 |
+
"offset_rotvec": [
|
| 568 |
+
-0.238,
|
| 569 |
+
-0.0921,
|
| 570 |
+
-0.0193
|
| 571 |
+
],
|
| 572 |
+
"dev_deg": {
|
| 573 |
+
"median": 11.57,
|
| 574 |
+
"p90": 26.41
|
| 575 |
+
},
|
| 576 |
+
"samples": 3681,
|
| 577 |
+
"accepted": 3374,
|
| 578 |
+
"wrist_pos_err_mm_median": 39.1,
|
| 579 |
+
"per_camera": {
|
| 580 |
+
"head": {
|
| 581 |
+
"samples": 3681,
|
| 582 |
+
"accepted": 3374,
|
| 583 |
+
"gate_deg": 30.0,
|
| 584 |
+
"offset_deg": 14.66,
|
| 585 |
+
"tier": "primary",
|
| 586 |
+
"dev_deg_median": 11.57,
|
| 587 |
+
"wrist_pos_err_mm_median": 39.1
|
| 588 |
+
}
|
| 589 |
+
},
|
| 590 |
+
"frames_by_state": {
|
| 591 |
+
"ace_sample": 13543,
|
| 592 |
+
"interpolated": 1136,
|
| 593 |
+
"mean_hand": 549,
|
| 594 |
+
"no_body_fit": 8
|
| 595 |
+
},
|
| 596 |
+
"observed_fraction": 0.9634,
|
| 597 |
+
"observed_fraction_of_valid": 0.9639,
|
| 598 |
+
"palm_axis_vs_markers_deg": {
|
| 599 |
+
"gsi": 15.77,
|
| 600 |
+
"smplx": 3.49
|
| 601 |
+
},
|
| 602 |
+
"hand_marker_to_mesh_mm": {
|
| 603 |
+
"flat": {
|
| 604 |
+
"median": 7.2,
|
| 605 |
+
"p90": 13.5
|
| 606 |
+
},
|
| 607 |
+
"registered": {
|
| 608 |
+
"median": 6.8,
|
| 609 |
+
"p90": 13.8
|
| 610 |
+
}
|
| 611 |
+
}
|
| 612 |
+
},
|
| 613 |
+
"right": {
|
| 614 |
+
"offset_deg": 7.7,
|
| 615 |
+
"offset_rotvec": [
|
| 616 |
+
0.0494,
|
| 617 |
+
0.046,
|
| 618 |
+
0.1162
|
| 619 |
+
],
|
| 620 |
+
"dev_deg": {
|
| 621 |
+
"median": 12.1,
|
| 622 |
+
"p90": 21.58
|
| 623 |
+
},
|
| 624 |
+
"samples": 3533,
|
| 625 |
+
"accepted": 3335,
|
| 626 |
+
"wrist_pos_err_mm_median": 53.9,
|
| 627 |
+
"per_camera": {
|
| 628 |
+
"head": {
|
| 629 |
+
"samples": 3533,
|
| 630 |
+
"accepted": 3335,
|
| 631 |
+
"gate_deg": 30.0,
|
| 632 |
+
"offset_deg": 7.7,
|
| 633 |
+
"tier": "primary",
|
| 634 |
+
"dev_deg_median": 12.1,
|
| 635 |
+
"wrist_pos_err_mm_median": 53.9
|
| 636 |
+
}
|
| 637 |
+
},
|
| 638 |
+
"frames_by_state": {
|
| 639 |
+
"ace_sample": 13355,
|
| 640 |
+
"interpolated": 428,
|
| 641 |
+
"mean_hand": 1445,
|
| 642 |
+
"no_body_fit": 8
|
| 643 |
+
},
|
| 644 |
+
"observed_fraction": 0.9046,
|
| 645 |
+
"observed_fraction_of_valid": 0.9051,
|
| 646 |
+
"palm_axis_vs_markers_deg": {
|
| 647 |
+
"gsi": 11.7,
|
| 648 |
+
"smplx": 2.92
|
| 649 |
+
},
|
| 650 |
+
"hand_marker_to_mesh_mm": {
|
| 651 |
+
"flat": {
|
| 652 |
+
"median": 6.1,
|
| 653 |
+
"p90": 9.1
|
| 654 |
+
},
|
| 655 |
+
"registered": {
|
| 656 |
+
"median": 6.5,
|
| 657 |
+
"p90": 10.8
|
| 658 |
+
}
|
| 659 |
+
}
|
| 660 |
+
}
|
| 661 |
+
},
|
| 662 |
+
"max_dev_deg": 30.0,
|
| 663 |
+
"max_gap_s": 1.0,
|
| 664 |
+
"cameras_used": [
|
| 665 |
+
"head"
|
| 666 |
+
],
|
| 667 |
+
"generated_at_utc": "2026-11-03T21:47:46.790099+00:00",
|
| 668 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 669 |
+
"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",
|
| 670 |
+
"wrist_flip_suspect": []
|
| 671 |
+
},
|
| 672 |
"release": {
|
| 673 |
"release_path": "actions/locomanipulation/LM45/session_003",
|
| 674 |
"family": "locomanipulation",
|
| 675 |
"primitive": "LM45",
|
| 676 |
"source_session": "20261016/LM45/20261016_111502_session22"
|
| 677 |
},
|
| 678 |
+
"task": {
|
| 679 |
+
"primitive": "LM45",
|
| 680 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 681 |
+
},
|
| 682 |
"objects": [
|
| 683 |
{
|
| 684 |
"name": "LittleBox1",
|
actions/locomanipulation/LM45/session_003/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2d59c581262ab97b7130f3a15a1d02abd460cb9d6518244e990f7f9a5888e3d9
|
| 3 |
+
size 4895610
|
actions/locomanipulation/LM45/session_003/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 sha256:7540a6484019c5b9602e2aa65a3eaf54a23f98163dcb2acdf465227261c89e15
|
| 3 |
+
size 10702184
|
actions/locomanipulation/LM45/session_004/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": "LM45",
|
| 6 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. 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": 112.666689,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.039333345468649236
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "89f6e8b8-5e27-4201-9784-a1c345adfd7f",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM45",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.951,
|
| 22 |
+
"end_s": 108.82,
|
| 23 |
+
"t_start": 1.9903,
|
| 24 |
+
"t_end": 108.8593,
|
| 25 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM45/session_004/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [
|
| 4 |
+
{
|
| 5 |
+
"matches": 34,
|
| 6 |
+
"median_px": 3.06,
|
| 7 |
+
"pair": [
|
| 8 |
+
"left",
|
| 9 |
+
"right"
|
| 10 |
+
]
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"groups_used": 14,
|
| 14 |
+
"median_px": 0.489
|
| 15 |
+
},
|
| 16 |
+
"cameras": {
|
| 17 |
+
"left": {
|
| 18 |
+
"accepted": true,
|
| 19 |
+
"against": [
|
| 20 |
+
"left_front",
|
| 21 |
+
"right_front",
|
| 22 |
+
"left_eye",
|
| 23 |
+
"right_eye"
|
| 24 |
+
],
|
| 25 |
+
"delta_deg": 1.6372,
|
| 26 |
+
"gate_fail": [],
|
| 27 |
+
"held_out_px_after": 0.698,
|
| 28 |
+
"held_out_px_before": 18.97,
|
| 29 |
+
"inliers": 1326,
|
| 30 |
+
"position_fitted": false,
|
| 31 |
+
"rotvec_deg": [
|
| 32 |
+
-0.9948,
|
| 33 |
+
-0.1652,
|
| 34 |
+
-1.2898
|
| 35 |
+
],
|
| 36 |
+
"split_deg": 0.1194,
|
| 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": 2.2465,
|
| 49 |
+
"gate_fail": [],
|
| 50 |
+
"held_out_px_after": 0.51,
|
| 51 |
+
"held_out_px_before": 8.064,
|
| 52 |
+
"inliers": 3358,
|
| 53 |
+
"position_fitted": true,
|
| 54 |
+
"position_mm": [
|
| 55 |
+
0.95,
|
| 56 |
+
-28.59,
|
| 57 |
+
-3.65
|
| 58 |
+
],
|
| 59 |
+
"position_sigma_mm": 0.271,
|
| 60 |
+
"position_split_mm": 1.515,
|
| 61 |
+
"rotvec_deg": [
|
| 62 |
+
1.6922,
|
| 63 |
+
-0.8003,
|
| 64 |
+
1.242
|
| 65 |
+
],
|
| 66 |
+
"split_deg": 0.0536,
|
| 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": 3.8226,
|
| 81 |
+
"gate_fail": [],
|
| 82 |
+
"held_out_px_after": 0.588,
|
| 83 |
+
"held_out_px_before": 10.205,
|
| 84 |
+
"inliers": 1893,
|
| 85 |
+
"position_fitted": false,
|
| 86 |
+
"rotvec_deg": [
|
| 87 |
+
1.8849,
|
| 88 |
+
-1.3078,
|
| 89 |
+
3.0577
|
| 90 |
+
],
|
| 91 |
+
"split_deg": 0.0318,
|
| 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": 3.0721,
|
| 104 |
+
"gate_fail": [],
|
| 105 |
+
"held_out_px_after": 0.514,
|
| 106 |
+
"held_out_px_before": 7.144,
|
| 107 |
+
"inliers": 3515,
|
| 108 |
+
"position_fitted": true,
|
| 109 |
+
"position_mm": [
|
| 110 |
+
2.83,
|
| 111 |
+
-21.28,
|
| 112 |
+
-1.06
|
| 113 |
+
],
|
| 114 |
+
"position_sigma_mm": 0.209,
|
| 115 |
+
"position_split_mm": 0.616,
|
| 116 |
+
"rotvec_deg": [
|
| 117 |
+
1.894,
|
| 118 |
+
-1.4916,
|
| 119 |
+
1.9041
|
| 120 |
+
],
|
| 121 |
+
"split_deg": 0.0839,
|
| 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": 0.581,
|
| 134 |
+
"gate_fail": [],
|
| 135 |
+
"held_out_px_after": 0.475,
|
| 136 |
+
"held_out_px_before": 4.816,
|
| 137 |
+
"inliers": 3027,
|
| 138 |
+
"position_fitted": false,
|
| 139 |
+
"rotvec_deg": [
|
| 140 |
+
0.2246,
|
| 141 |
+
-0.4383,
|
| 142 |
+
-0.3082
|
| 143 |
+
],
|
| 144 |
+
"split_deg": 0.0453,
|
| 145 |
+
"usable": true
|
| 146 |
+
}
|
| 147 |
+
},
|
| 148 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 149 |
+
"device_id": "c9205ac6e17d2d5c",
|
| 150 |
+
"factory_root_name": "c9205ac6e17d2d5c",
|
| 151 |
+
"files": {
|
| 152 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 153 |
+
"sha256": "21b36dacbaa7c908cb369d76ab8536e0cf7401df9f344e9862ebca31084aa6ce",
|
| 154 |
+
"source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
|
| 155 |
+
},
|
| 156 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 157 |
+
"sha256": "294a381a74be59a9b647cbc624714300bb7b3eed7d7859fa5f459735ef9ee556",
|
| 158 |
+
"source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
|
| 159 |
+
},
|
| 160 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 161 |
+
"sha256": "0236f32ae4352b157a015d7e9c8b5838439a40728896bc9e110229eb0f05d445",
|
| 162 |
+
"source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
|
| 163 |
+
},
|
| 164 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 165 |
+
"sha256": "42b5b6ab5d59050ff076fea8ca5fa7bbdba9763c83c991f1e6ad162df6f214ed",
|
| 166 |
+
"source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"input_fingerprint": "70252db0510169f1",
|
| 170 |
+
"kind": "online_calibration",
|
| 171 |
+
"output_sha256": "143a2cdd150d072f84cfa02c37fdbdd5d2d508fae4daa53eec65e0ebeff85cfe",
|
| 172 |
+
"overlap": {
|
| 173 |
+
"left-right": 0.5,
|
| 174 |
+
"left_eye-left": 0.695,
|
| 175 |
+
"left_eye-right": 0.702,
|
| 176 |
+
"left_front-left": 0.506,
|
| 177 |
+
"left_front-left_eye": 0.692,
|
| 178 |
+
"left_front-right": 0.458,
|
| 179 |
+
"left_front-right_eye": 0.698,
|
| 180 |
+
"left_front-right_front": 1.0,
|
| 181 |
+
"right_eye-left": 0.699,
|
| 182 |
+
"right_eye-left_eye": 1.0,
|
| 183 |
+
"right_eye-right": 0.706,
|
| 184 |
+
"right_front-left": 0.49,
|
| 185 |
+
"right_front-left_eye": 0.697,
|
| 186 |
+
"right_front-right": 0.464,
|
| 187 |
+
"right_front-right_eye": 0.704
|
| 188 |
+
},
|
| 189 |
+
"picture_change": {
|
| 190 |
+
"left": 44.568,
|
| 191 |
+
"left_eye": 42.663,
|
| 192 |
+
"left_front": 50.948,
|
| 193 |
+
"right": 45.663,
|
| 194 |
+
"right_eye": 43.82,
|
| 195 |
+
"right_front": 51.115
|
| 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 |
+
4750250976888,
|
| 206 |
+
4751251010222,
|
| 207 |
+
4754250988000,
|
| 208 |
+
4755250988000,
|
| 209 |
+
4760250988000,
|
| 210 |
+
4761251054666,
|
| 211 |
+
4762251032444,
|
| 212 |
+
4765250988000,
|
| 213 |
+
4766250988000,
|
| 214 |
+
4771250988000,
|
| 215 |
+
4772251010222,
|
| 216 |
+
4773251032444,
|
| 217 |
+
4777251010222,
|
| 218 |
+
4778251054666,
|
| 219 |
+
4783250988000,
|
| 220 |
+
4784251054666,
|
| 221 |
+
4785251065777,
|
| 222 |
+
4790251054666,
|
| 223 |
+
4791251010222,
|
| 224 |
+
4792251010222,
|
| 225 |
+
4796251010222,
|
| 226 |
+
4797251010222,
|
| 227 |
+
4798250999111,
|
| 228 |
+
4799251021333,
|
| 229 |
+
4805250976888,
|
| 230 |
+
4806251010222,
|
| 231 |
+
4807250999111,
|
| 232 |
+
4809251032444,
|
| 233 |
+
4810250999111,
|
| 234 |
+
4815251099111,
|
| 235 |
+
4816250988000,
|
| 236 |
+
4817251010222,
|
| 237 |
+
4818251010222,
|
| 238 |
+
4821251010222,
|
| 239 |
+
4822251032444,
|
| 240 |
+
4825250988000,
|
| 241 |
+
4826251032444,
|
| 242 |
+
4829250999111,
|
| 243 |
+
4830250976888,
|
| 244 |
+
4834250999111,
|
| 245 |
+
4835250999111,
|
| 246 |
+
4838250976888,
|
| 247 |
+
4839251043555,
|
| 248 |
+
4840251054666,
|
| 249 |
+
4843250988000,
|
| 250 |
+
4844251010222,
|
| 251 |
+
4847250988000,
|
| 252 |
+
4848250988000,
|
| 253 |
+
4849251043555,
|
| 254 |
+
4850251032444,
|
| 255 |
+
4853251010222,
|
| 256 |
+
4854250988000,
|
| 257 |
+
4858250999111,
|
| 258 |
+
4859250999111
|
| 259 |
+
]
|
| 260 |
+
},
|
| 261 |
+
"version": 1
|
| 262 |
+
}
|
actions/locomanipulation/LM45/session_004/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d19b079c9acf6e79ec14bda68c7d91769c384857bcc78eff990fe21200a81f34
|
| 3 |
+
size 650860
|
actions/locomanipulation/LM45/session_004/meta.json
CHANGED
|
@@ -353,8 +353,8 @@
|
|
| 353 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
"hands": {
|
| 356 |
-
"observed":
|
| 357 |
-
"hand_pose": "
|
| 358 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
"hand_marker_offsets_m": {
|
| 360 |
"left": {
|
|
@@ -514,12 +514,126 @@
|
|
| 514 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 515 |
}
|
| 516 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 517 |
"release": {
|
| 518 |
"release_path": "actions/locomanipulation/LM45/session_004",
|
| 519 |
"family": "locomanipulation",
|
| 520 |
"primitive": "LM45",
|
| 521 |
"source_session": "20261021/LM45/20261021_052146_session21"
|
| 522 |
},
|
|
|
|
|
|
|
|
|
|
|
|
|
| 523 |
"objects": [
|
| 524 |
{
|
| 525 |
"name": "LittleBox1",
|
|
|
|
| 353 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 354 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 355 |
"hands": {
|
| 356 |
+
"observed": true,
|
| 357 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 358 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 359 |
"hand_marker_offsets_m": {
|
| 360 |
"left": {
|
|
|
|
| 514 |
"note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
|
| 515 |
}
|
| 516 |
},
|
| 517 |
+
"hands_registration": {
|
| 518 |
+
"cameras": {},
|
| 519 |
+
"hands": {
|
| 520 |
+
"left": {
|
| 521 |
+
"offset_deg": 12.69,
|
| 522 |
+
"offset_rotvec": [
|
| 523 |
+
-0.1059,
|
| 524 |
+
-0.02,
|
| 525 |
+
0.1936
|
| 526 |
+
],
|
| 527 |
+
"dev_deg": {
|
| 528 |
+
"median": 9.42,
|
| 529 |
+
"p90": 17.15
|
| 530 |
+
},
|
| 531 |
+
"samples": 3347,
|
| 532 |
+
"accepted": 3323,
|
| 533 |
+
"wrist_pos_err_mm_median": 41.5,
|
| 534 |
+
"per_camera": {
|
| 535 |
+
"head": {
|
| 536 |
+
"samples": 3347,
|
| 537 |
+
"accepted": 3323,
|
| 538 |
+
"gate_deg": 30.0,
|
| 539 |
+
"offset_deg": 12.69,
|
| 540 |
+
"tier": "primary",
|
| 541 |
+
"dev_deg_median": 9.42,
|
| 542 |
+
"wrist_pos_err_mm_median": 41.5
|
| 543 |
+
}
|
| 544 |
+
},
|
| 545 |
+
"frames_by_state": {
|
| 546 |
+
"ace_sample": 13334,
|
| 547 |
+
"interpolated": 182,
|
| 548 |
+
"mean_hand": 5,
|
| 549 |
+
"no_body_fit": 7
|
| 550 |
+
},
|
| 551 |
+
"observed_fraction": 0.9991,
|
| 552 |
+
"observed_fraction_of_valid": 0.9996,
|
| 553 |
+
"palm_axis_vs_markers_deg": {
|
| 554 |
+
"gsi": 11.04,
|
| 555 |
+
"smplx": 1.87
|
| 556 |
+
},
|
| 557 |
+
"hand_marker_to_mesh_mm": {
|
| 558 |
+
"flat": {
|
| 559 |
+
"median": 11.2,
|
| 560 |
+
"p90": 13.5
|
| 561 |
+
},
|
| 562 |
+
"registered": {
|
| 563 |
+
"median": 11.8,
|
| 564 |
+
"p90": 14.5
|
| 565 |
+
}
|
| 566 |
+
}
|
| 567 |
+
},
|
| 568 |
+
"right": {
|
| 569 |
+
"offset_deg": 11.99,
|
| 570 |
+
"offset_rotvec": [
|
| 571 |
+
-0.1494,
|
| 572 |
+
-0.1293,
|
| 573 |
+
-0.0686
|
| 574 |
+
],
|
| 575 |
+
"dev_deg": {
|
| 576 |
+
"median": 8.54,
|
| 577 |
+
"p90": 15.75
|
| 578 |
+
},
|
| 579 |
+
"samples": 3298,
|
| 580 |
+
"accepted": 3245,
|
| 581 |
+
"wrist_pos_err_mm_median": 36.1,
|
| 582 |
+
"per_camera": {
|
| 583 |
+
"head": {
|
| 584 |
+
"samples": 3298,
|
| 585 |
+
"accepted": 3245,
|
| 586 |
+
"gate_deg": 30.0,
|
| 587 |
+
"offset_deg": 11.99,
|
| 588 |
+
"tier": "primary",
|
| 589 |
+
"dev_deg_median": 8.54,
|
| 590 |
+
"wrist_pos_err_mm_median": 36.1
|
| 591 |
+
}
|
| 592 |
+
},
|
| 593 |
+
"frames_by_state": {
|
| 594 |
+
"ace_sample": 13034,
|
| 595 |
+
"interpolated": 342,
|
| 596 |
+
"mean_hand": 145,
|
| 597 |
+
"no_body_fit": 7
|
| 598 |
+
},
|
| 599 |
+
"observed_fraction": 0.9888,
|
| 600 |
+
"observed_fraction_of_valid": 0.9893,
|
| 601 |
+
"palm_axis_vs_markers_deg": {
|
| 602 |
+
"gsi": 14.76,
|
| 603 |
+
"smplx": 1.3
|
| 604 |
+
},
|
| 605 |
+
"hand_marker_to_mesh_mm": {
|
| 606 |
+
"flat": {
|
| 607 |
+
"median": 6.4,
|
| 608 |
+
"p90": 7.4
|
| 609 |
+
},
|
| 610 |
+
"registered": {
|
| 611 |
+
"median": 6.9,
|
| 612 |
+
"p90": 8.5
|
| 613 |
+
}
|
| 614 |
+
}
|
| 615 |
+
}
|
| 616 |
+
},
|
| 617 |
+
"max_dev_deg": 30.0,
|
| 618 |
+
"max_gap_s": 1.0,
|
| 619 |
+
"cameras_used": [
|
| 620 |
+
"head"
|
| 621 |
+
],
|
| 622 |
+
"generated_at_utc": "2026-11-03T19:21:39.237112+00:00",
|
| 623 |
+
"generated_by": "scripts/register_hands_smplx.py",
|
| 624 |
+
"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",
|
| 625 |
+
"wrist_flip_suspect": []
|
| 626 |
+
},
|
| 627 |
"release": {
|
| 628 |
"release_path": "actions/locomanipulation/LM45/session_004",
|
| 629 |
"family": "locomanipulation",
|
| 630 |
"primitive": "LM45",
|
| 631 |
"source_session": "20261021/LM45/20261021_052146_session21"
|
| 632 |
},
|
| 633 |
+
"task": {
|
| 634 |
+
"primitive": "LM45",
|
| 635 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 636 |
+
},
|
| 637 |
"objects": [
|
| 638 |
{
|
| 639 |
"name": "LittleBox1",
|
actions/locomanipulation/LM45/session_004/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:14d5810e3dcf83792521b3cefc9c592d7ef9bed5df0a7a306e807cdbd1c6d68a
|
| 3 |
+
size 4496776
|
actions/locomanipulation/LM45/session_004/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 sha256:64f48f30ebea903b034da91a6e524f0de2ef6eff9a00a716bfd8a8e0a9ca8fe9
|
| 3 |
+
size 9717486
|
actions/locomanipulation/LM45/session_005/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": "LM45",
|
| 6 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. 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": 114.766622,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.04004634992151215
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "c0a19705-d315-4530-8686-2dd065e4b6fb",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM45",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 1.252,
|
| 22 |
+
"end_s": 110.795,
|
| 23 |
+
"t_start": 1.292,
|
| 24 |
+
"t_end": 110.835,
|
| 25 |
+
"instruction": "Carry each object across the room and drop it into the container on the floor, then walk back for the next one. Keep going until the operator says stop; one object at a time, and do not rush between trips."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM45/session_005/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,242 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.412
|
| 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": 1.7179,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.529,
|
| 20 |
+
"held_out_px_before": 21.398,
|
| 21 |
+
"inliers": 1996,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
-1.2522,
|
| 25 |
+
-0.1968,
|
| 26 |
+
-1.1595
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0863,
|
| 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": 2.3563,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.475,
|
| 43 |
+
"held_out_px_before": 9.16,
|
| 44 |
+
"inliers": 3645,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
2.42,
|
| 48 |
+
-26.13,
|
| 49 |
+
-0.06
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.159,
|
| 52 |
+
"position_split_mm": 1.826,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
1.6637,
|
| 55 |
+
-0.851,
|
| 56 |
+
1.4353
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.1099,
|
| 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": 3.6468,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 1.003,
|
| 76 |
+
"held_out_px_before": 10.385,
|
| 77 |
+
"inliers": 1281,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
1.8061,
|
| 81 |
+
-1.1014,
|
| 82 |
+
2.9706
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.1127,
|
| 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": 2.9367,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.43,
|
| 99 |
+
"held_out_px_before": 5.987,
|
| 100 |
+
"inliers": 3803,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
1.26,
|
| 104 |
+
-21.4,
|
| 105 |
+
-0.91
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.203,
|
| 108 |
+
"position_split_mm": 1.273,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
1.8334,
|
| 111 |
+
-1.4183,
|
| 112 |
+
1.8031
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0339,
|
| 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": 0.5654,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.359,
|
| 129 |
+
"held_out_px_before": 4.126,
|
| 130 |
+
"inliers": 3510,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
0.2308,
|
| 134 |
+
-0.4417,
|
| 135 |
+
-0.2672
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0161,
|
| 138 |
+
"usable": true
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
+
"device_id": "c9205ac6e17d2d5c",
|
| 143 |
+
"factory_root_name": "c9205ac6e17d2d5c",
|
| 144 |
+
"files": {
|
| 145 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
+
"sha256": "46cbecdcb1ccc7f212eee94d19b1be72e78fcb3132de0448926ade62bf263e63",
|
| 147 |
+
"source_sha256": "6e18fccba0c61af131ac98f972893ea1403b6c4af34a6307b7af2f615910985d"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "479de83715f9cda3064147ab69e5bbc112dce1fcb5712037e882dc3de965fb34",
|
| 151 |
+
"source_sha256": "3bc96a5c4ff9bbbfe09029a7c285f4bf33ae99cebb803beb17ddd2e4a6866198"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "a7315dfaab016c6509cfef5d1a4164714509fc3f71ead6263168e67150c79d02",
|
| 155 |
+
"source_sha256": "a33c65e0d19fee5c9f77b58e7a55c469c1b653e9a547260f014cc277159547af"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "fba33e2c22e0e0f19eb8a95163bd402e558c48a045aa2bbfdb38a99c04cfad54",
|
| 159 |
+
"source_sha256": "2f1b0eb8c98b136de20d1b5902248c0028b13328da61bfb3e2e0280bbb619dc3"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "013353e0ac9fbafa",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "66541f509939f19a2cc06e6b45260b0a6e2bbaa0bd5286b90a819703f42104b8",
|
| 165 |
+
"overlap": {
|
| 166 |
+
"left-right": 0.5,
|
| 167 |
+
"left_eye-left": 0.695,
|
| 168 |
+
"left_eye-right": 0.702,
|
| 169 |
+
"left_front-left": 0.506,
|
| 170 |
+
"left_front-left_eye": 0.692,
|
| 171 |
+
"left_front-right": 0.458,
|
| 172 |
+
"left_front-right_eye": 0.698,
|
| 173 |
+
"left_front-right_front": 1.0,
|
| 174 |
+
"right_eye-left": 0.699,
|
| 175 |
+
"right_eye-left_eye": 1.0,
|
| 176 |
+
"right_eye-right": 0.706,
|
| 177 |
+
"right_front-left": 0.49,
|
| 178 |
+
"right_front-left_eye": 0.697,
|
| 179 |
+
"right_front-right": 0.464,
|
| 180 |
+
"right_front-right_eye": 0.704
|
| 181 |
+
},
|
| 182 |
+
"picture_change": {
|
| 183 |
+
"left": 40.016,
|
| 184 |
+
"left_eye": 39.964,
|
| 185 |
+
"left_front": 46.821,
|
| 186 |
+
"right": 44.932,
|
| 187 |
+
"right_eye": 41.521,
|
| 188 |
+
"right_front": 47.581
|
| 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 |
+
4933956060888,
|
| 199 |
+
4934956038666,
|
| 200 |
+
4935956049777,
|
| 201 |
+
4936956060888,
|
| 202 |
+
4937956049777,
|
| 203 |
+
4938956038666,
|
| 204 |
+
4939956049777,
|
| 205 |
+
4940956049777,
|
| 206 |
+
4941956027555,
|
| 207 |
+
4942956049777,
|
| 208 |
+
4943956060888,
|
| 209 |
+
4944956038666,
|
| 210 |
+
4945956038666,
|
| 211 |
+
4946956060888,
|
| 212 |
+
4947956105333,
|
| 213 |
+
4948956038666,
|
| 214 |
+
4949956049777,
|
| 215 |
+
4950956038666,
|
| 216 |
+
4951956049777,
|
| 217 |
+
4952956038666,
|
| 218 |
+
4953956060888,
|
| 219 |
+
4954956094222,
|
| 220 |
+
4955956060888,
|
| 221 |
+
4956956038666,
|
| 222 |
+
4957956027555,
|
| 223 |
+
4958956060888,
|
| 224 |
+
4959956038666,
|
| 225 |
+
4960956027555,
|
| 226 |
+
4961956038666,
|
| 227 |
+
4962956027555,
|
| 228 |
+
4963956072000,
|
| 229 |
+
4964956038666,
|
| 230 |
+
4965956060888,
|
| 231 |
+
4966956027555,
|
| 232 |
+
4967956027555,
|
| 233 |
+
4968956094222,
|
| 234 |
+
4969956027555,
|
| 235 |
+
4970956049777,
|
| 236 |
+
4971956038666,
|
| 237 |
+
4972956027555,
|
| 238 |
+
4973956038666
|
| 239 |
+
]
|
| 240 |
+
},
|
| 241 |
+
"version": 1
|
| 242 |
+
}
|
actions/locomanipulation/LM45/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f4c03868b87015f41722a2281e5761362819e9412e9b7d8bd7e9e681afc57943
|
| 3 |
+
size 662053
|