Release update 2026-11-05: new sessions, instructions, annotations (part 113)
Browse files- actions/locomanipulation/LM19/session_020/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM19/session_020/motions/smplx.npz +2 -2
- actions/locomanipulation/LM19/session_021/annotations.json +28 -0
- actions/locomanipulation/LM19/session_021/cameras/gsi_online_calibration.json +259 -0
- actions/locomanipulation/LM19/session_021/cameras/slam.npz +3 -0
- actions/locomanipulation/LM19/session_021/meta.json +4 -0
- actions/locomanipulation/LM19/session_021/motions/hands_mano.npz +3 -0
- actions/locomanipulation/LM19/session_022/annotations.json +28 -0
- actions/locomanipulation/LM19/session_022/cameras/gsi_online_calibration.json +257 -0
- actions/locomanipulation/LM19/session_022/cameras/slam.npz +3 -0
- actions/locomanipulation/LM19/session_022/meta.json +4 -0
actions/locomanipulation/LM19/session_020/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:be17de9e266483f81c8a58b5a3519750778bc234d2cdd3352a5ed8e9b388cdc3
|
| 3 |
+
size 5651512
|
actions/locomanipulation/LM19/session_020/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:fd548f36bc4f5218a94ca183d902c02c65b26ce6eba3c0a23d59a041419799b9
|
| 3 |
+
size 11639531
|
actions/locomanipulation/LM19/session_021/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": "LM19",
|
| 6 |
+
"instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 133.966767,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038855740380416615
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "706ce0f0-6e30-4797-843f-8c3d7dc245bf",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM19",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 129.972,
|
| 23 |
+
"t_start": 0.0389,
|
| 24 |
+
"t_end": 130.0109,
|
| 25 |
+
"instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM19/session_021/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,259 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.379
|
| 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": 1.3939,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.558,
|
| 20 |
+
"held_out_px_before": 5.751,
|
| 21 |
+
"inliers": 2919,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
-0.1313,
|
| 25 |
+
-0.5884,
|
| 26 |
+
-1.2568
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.262,
|
| 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": 2.5079,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.407,
|
| 43 |
+
"held_out_px_before": 6.317,
|
| 44 |
+
"inliers": 5006,
|
| 45 |
+
"position_fitted": false,
|
| 46 |
+
"position_rejected": {
|
| 47 |
+
"position_mm": [
|
| 48 |
+
0.53,
|
| 49 |
+
-11.26,
|
| 50 |
+
8.16
|
| 51 |
+
],
|
| 52 |
+
"position_sigma_mm": 0.377,
|
| 53 |
+
"position_split_mm": 9.485
|
| 54 |
+
},
|
| 55 |
+
"rotvec_deg": [
|
| 56 |
+
0.2594,
|
| 57 |
+
0.8492,
|
| 58 |
+
-2.3455
|
| 59 |
+
],
|
| 60 |
+
"split_deg": 0.0408,
|
| 61 |
+
"usable": true
|
| 62 |
+
},
|
| 63 |
+
"left_front": {
|
| 64 |
+
"role": "rig origin"
|
| 65 |
+
},
|
| 66 |
+
"right": {
|
| 67 |
+
"accepted": true,
|
| 68 |
+
"against": [
|
| 69 |
+
"left_front",
|
| 70 |
+
"right_front",
|
| 71 |
+
"left_eye",
|
| 72 |
+
"right_eye",
|
| 73 |
+
"left"
|
| 74 |
+
],
|
| 75 |
+
"delta_deg": 1.472,
|
| 76 |
+
"gate_fail": [],
|
| 77 |
+
"held_out_px_after": 0.774,
|
| 78 |
+
"held_out_px_before": 5.472,
|
| 79 |
+
"inliers": 1225,
|
| 80 |
+
"position_fitted": false,
|
| 81 |
+
"rotvec_deg": [
|
| 82 |
+
1.3849,
|
| 83 |
+
-0.3823,
|
| 84 |
+
-0.3205
|
| 85 |
+
],
|
| 86 |
+
"split_deg": 0.1255,
|
| 87 |
+
"usable": true
|
| 88 |
+
},
|
| 89 |
+
"right_eye": {
|
| 90 |
+
"accepted": true,
|
| 91 |
+
"against": [
|
| 92 |
+
"left_front",
|
| 93 |
+
"right_front",
|
| 94 |
+
"left_eye",
|
| 95 |
+
"left",
|
| 96 |
+
"right"
|
| 97 |
+
],
|
| 98 |
+
"delta_deg": 1.2198,
|
| 99 |
+
"gate_fail": [],
|
| 100 |
+
"held_out_px_after": 0.366,
|
| 101 |
+
"held_out_px_before": 3.211,
|
| 102 |
+
"inliers": 5311,
|
| 103 |
+
"position_fitted": true,
|
| 104 |
+
"position_mm": [
|
| 105 |
+
9.66,
|
| 106 |
+
-2.55,
|
| 107 |
+
2.07
|
| 108 |
+
],
|
| 109 |
+
"position_sigma_mm": 0.33,
|
| 110 |
+
"position_split_mm": 3.416,
|
| 111 |
+
"rotvec_deg": [
|
| 112 |
+
0.5441,
|
| 113 |
+
-0.261,
|
| 114 |
+
-1.0601
|
| 115 |
+
],
|
| 116 |
+
"split_deg": 0.0958,
|
| 117 |
+
"usable": true
|
| 118 |
+
},
|
| 119 |
+
"right_front": {
|
| 120 |
+
"accepted": true,
|
| 121 |
+
"against": [
|
| 122 |
+
"left_front",
|
| 123 |
+
"left_eye",
|
| 124 |
+
"right_eye",
|
| 125 |
+
"left",
|
| 126 |
+
"right"
|
| 127 |
+
],
|
| 128 |
+
"delta_deg": 2.0573,
|
| 129 |
+
"gate_fail": [],
|
| 130 |
+
"held_out_px_after": 0.349,
|
| 131 |
+
"held_out_px_before": 5.648,
|
| 132 |
+
"inliers": 4802,
|
| 133 |
+
"position_fitted": false,
|
| 134 |
+
"rotvec_deg": [
|
| 135 |
+
-0.2123,
|
| 136 |
+
0.0027,
|
| 137 |
+
-2.0463
|
| 138 |
+
],
|
| 139 |
+
"split_deg": 0.0312,
|
| 140 |
+
"usable": true
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 144 |
+
"device_id": "e17c9efadb69e7b1",
|
| 145 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 146 |
+
"files": {
|
| 147 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 148 |
+
"sha256": "ddda829a0cc0b7d60ac42dd15d25c428fe8627b9e05266995ce4161023ef8d95",
|
| 149 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 150 |
+
},
|
| 151 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 152 |
+
"sha256": "993e800b755da17ce8e14f996e262a7b46c40c948f2efdd5ccb01d998ae00775",
|
| 153 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 154 |
+
},
|
| 155 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 156 |
+
"sha256": "09f221d8f4ba7f652487d40149489a22a3173aea6b6aae079debf42c3bd617f5",
|
| 157 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 158 |
+
},
|
| 159 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 160 |
+
"sha256": "c4f92fdcfbbf08f4f3188d82c5570689fbc487d5bcc551b67ae7e1b1d9cb929a",
|
| 161 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 162 |
+
}
|
| 163 |
+
},
|
| 164 |
+
"input_fingerprint": "6025929724662b9c",
|
| 165 |
+
"kind": "online_calibration",
|
| 166 |
+
"output_sha256": "bae7d95d6e2a2e8a251bb06ca4b840685930b0153027da8658f0d62b6fc4dd20",
|
| 167 |
+
"overlap": {
|
| 168 |
+
"left-right": 0.501,
|
| 169 |
+
"left_eye-left": 0.707,
|
| 170 |
+
"left_eye-right": 0.671,
|
| 171 |
+
"left_front-left": 0.478,
|
| 172 |
+
"left_front-left_eye": 0.72,
|
| 173 |
+
"left_front-right": 0.448,
|
| 174 |
+
"left_front-right_eye": 0.732,
|
| 175 |
+
"left_front-right_front": 1.0,
|
| 176 |
+
"right_eye-left": 0.696,
|
| 177 |
+
"right_eye-left_eye": 1.0,
|
| 178 |
+
"right_eye-right": 0.673,
|
| 179 |
+
"right_front-left": 0.464,
|
| 180 |
+
"right_front-left_eye": 0.723,
|
| 181 |
+
"right_front-right": 0.466,
|
| 182 |
+
"right_front-right_eye": 0.734
|
| 183 |
+
},
|
| 184 |
+
"picture_change": {
|
| 185 |
+
"left": 33.261,
|
| 186 |
+
"left_eye": 28.829,
|
| 187 |
+
"left_front": 43.063,
|
| 188 |
+
"right": 34.945,
|
| 189 |
+
"right_eye": 28.114,
|
| 190 |
+
"right_front": 38.83
|
| 191 |
+
},
|
| 192 |
+
"runtime": {
|
| 193 |
+
"numpy": "2.4.6",
|
| 194 |
+
"opencv": "5.0.0",
|
| 195 |
+
"scipy": "1.17.1"
|
| 196 |
+
},
|
| 197 |
+
"segment": 1,
|
| 198 |
+
"selection": {
|
| 199 |
+
"overlap_captures": [
|
| 200 |
+
25471178669666,
|
| 201 |
+
25472178691888,
|
| 202 |
+
25475178669666,
|
| 203 |
+
25476178836333,
|
| 204 |
+
25481178747444,
|
| 205 |
+
25482178669666,
|
| 206 |
+
25485178691888,
|
| 207 |
+
25486178669666,
|
| 208 |
+
25489178658555,
|
| 209 |
+
25490178669666,
|
| 210 |
+
25494178669666,
|
| 211 |
+
25495178669666,
|
| 212 |
+
25496178669666,
|
| 213 |
+
25497178669666,
|
| 214 |
+
25501178669666,
|
| 215 |
+
25502178691888,
|
| 216 |
+
25505178691888,
|
| 217 |
+
25506178669666,
|
| 218 |
+
25511178691888,
|
| 219 |
+
25512178669666,
|
| 220 |
+
25516178691888,
|
| 221 |
+
25517178691888,
|
| 222 |
+
25518178691888,
|
| 223 |
+
25523178814111,
|
| 224 |
+
25524178691888,
|
| 225 |
+
25529178703000,
|
| 226 |
+
25530178669666,
|
| 227 |
+
25533178703000,
|
| 228 |
+
25534178747444,
|
| 229 |
+
25535178703000,
|
| 230 |
+
25539178747444,
|
| 231 |
+
25540178669666,
|
| 232 |
+
25545178669666,
|
| 233 |
+
25546178703000,
|
| 234 |
+
25550178658555,
|
| 235 |
+
25551178703000,
|
| 236 |
+
25552178691888,
|
| 237 |
+
25558178703000,
|
| 238 |
+
25559178736333,
|
| 239 |
+
25561178736333,
|
| 240 |
+
25562178669666,
|
| 241 |
+
25568178703000,
|
| 242 |
+
25569178669666,
|
| 243 |
+
25572178714111,
|
| 244 |
+
25573178703000,
|
| 245 |
+
25576178703000,
|
| 246 |
+
25577178669666,
|
| 247 |
+
25581178658555,
|
| 248 |
+
25582178691888,
|
| 249 |
+
25583178691888,
|
| 250 |
+
25588178703000,
|
| 251 |
+
25589178703000,
|
| 252 |
+
25591178703000,
|
| 253 |
+
25592178680777,
|
| 254 |
+
25596178669666,
|
| 255 |
+
25597178691888
|
| 256 |
+
]
|
| 257 |
+
},
|
| 258 |
+
"version": 1
|
| 259 |
+
}
|
actions/locomanipulation/LM19/session_021/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3d4620c8dc9ea0167dba0af29ec9313bd96da6fca35ffa54693ab27f56fb3087
|
| 3 |
+
size 767754
|
actions/locomanipulation/LM19/session_021/meta.json
CHANGED
|
@@ -517,5 +517,9 @@
|
|
| 517 |
"family": "locomanipulation",
|
| 518 |
"primitive": "LM19",
|
| 519 |
"source_session": "20260930/LM19/20260930_101809_session132"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 520 |
}
|
| 521 |
}
|
|
|
|
| 517 |
"family": "locomanipulation",
|
| 518 |
"primitive": "LM19",
|
| 519 |
"source_session": "20260930/LM19/20260930_101809_session132"
|
| 520 |
+
},
|
| 521 |
+
"task": {
|
| 522 |
+
"primitive": "LM19",
|
| 523 |
+
"instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
|
| 524 |
}
|
| 525 |
}
|
actions/locomanipulation/LM19/session_021/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d7980013a89adc09dac83f4c35fbd169e541f4a7ffe04e1174cba8b9ca28c9b2
|
| 3 |
+
size 4220309
|
actions/locomanipulation/LM19/session_022/annotations.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 1,
|
| 3 |
+
"source": "vendor annotation.json (schema 2, revision 1)",
|
| 4 |
+
"time_reference": "start_s / end_s: seconds from the start of the segment video, [start, end); t_start / t_end: the same bounds on the session time base (meta.json time_base, t = 0 at the first solved Body0 frame) = start_s + video_t_start",
|
| 5 |
+
"primitive": "LM19",
|
| 6 |
+
"instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room.",
|
| 7 |
+
"segments": [
|
| 8 |
+
{
|
| 9 |
+
"id": "segment1",
|
| 10 |
+
"duration_s": 143.966656,
|
| 11 |
+
"video": "left_eye",
|
| 12 |
+
"video_t_start": 0.038873942441646214
|
| 13 |
+
}
|
| 14 |
+
],
|
| 15 |
+
"episodes": [
|
| 16 |
+
{
|
| 17 |
+
"id": "01d3f452-0f12-421b-8051-7a4eb7e1cc23",
|
| 18 |
+
"segment": "segment1",
|
| 19 |
+
"action": "LM19",
|
| 20 |
+
"quality": "valid",
|
| 21 |
+
"start_s": 0,
|
| 22 |
+
"end_s": 138.958,
|
| 23 |
+
"t_start": 0.0389,
|
| 24 |
+
"t_end": 138.9969,
|
| 25 |
+
"instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/locomanipulation/LM19/session_022/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 15,
|
| 5 |
+
"median_px": 0.367
|
| 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": 1.3181,
|
| 18 |
+
"gate_fail": [],
|
| 19 |
+
"held_out_px_after": 0.484,
|
| 20 |
+
"held_out_px_before": 5.813,
|
| 21 |
+
"inliers": 2785,
|
| 22 |
+
"position_fitted": false,
|
| 23 |
+
"rotvec_deg": [
|
| 24 |
+
-0.1175,
|
| 25 |
+
-0.4904,
|
| 26 |
+
-1.2178
|
| 27 |
+
],
|
| 28 |
+
"split_deg": 0.0133,
|
| 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": 2.4514,
|
| 41 |
+
"gate_fail": [],
|
| 42 |
+
"held_out_px_after": 0.399,
|
| 43 |
+
"held_out_px_before": 6.715,
|
| 44 |
+
"inliers": 4347,
|
| 45 |
+
"position_fitted": true,
|
| 46 |
+
"position_mm": [
|
| 47 |
+
0.14,
|
| 48 |
+
-10.71,
|
| 49 |
+
12.26
|
| 50 |
+
],
|
| 51 |
+
"position_sigma_mm": 0.418,
|
| 52 |
+
"position_split_mm": 6.199,
|
| 53 |
+
"rotvec_deg": [
|
| 54 |
+
-0.1068,
|
| 55 |
+
0.7857,
|
| 56 |
+
-2.3196
|
| 57 |
+
],
|
| 58 |
+
"split_deg": 0.0474,
|
| 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": 1.6612,
|
| 74 |
+
"gate_fail": [],
|
| 75 |
+
"held_out_px_after": 0.514,
|
| 76 |
+
"held_out_px_before": 5.762,
|
| 77 |
+
"inliers": 1094,
|
| 78 |
+
"position_fitted": false,
|
| 79 |
+
"rotvec_deg": [
|
| 80 |
+
1.5191,
|
| 81 |
+
-0.5692,
|
| 82 |
+
-0.3575
|
| 83 |
+
],
|
| 84 |
+
"split_deg": 0.0177,
|
| 85 |
+
"usable": true
|
| 86 |
+
},
|
| 87 |
+
"right_eye": {
|
| 88 |
+
"accepted": true,
|
| 89 |
+
"against": [
|
| 90 |
+
"left_front",
|
| 91 |
+
"right_front",
|
| 92 |
+
"left_eye",
|
| 93 |
+
"left",
|
| 94 |
+
"right"
|
| 95 |
+
],
|
| 96 |
+
"delta_deg": 1.0984,
|
| 97 |
+
"gate_fail": [],
|
| 98 |
+
"held_out_px_after": 0.365,
|
| 99 |
+
"held_out_px_before": 3.232,
|
| 100 |
+
"inliers": 4745,
|
| 101 |
+
"position_fitted": true,
|
| 102 |
+
"position_mm": [
|
| 103 |
+
7.69,
|
| 104 |
+
-11.28,
|
| 105 |
+
12.21
|
| 106 |
+
],
|
| 107 |
+
"position_sigma_mm": 0.421,
|
| 108 |
+
"position_split_mm": 5.29,
|
| 109 |
+
"rotvec_deg": [
|
| 110 |
+
0.2461,
|
| 111 |
+
-0.315,
|
| 112 |
+
-1.0231
|
| 113 |
+
],
|
| 114 |
+
"split_deg": 0.0583,
|
| 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": 2.0377,
|
| 127 |
+
"gate_fail": [],
|
| 128 |
+
"held_out_px_after": 0.318,
|
| 129 |
+
"held_out_px_before": 6.185,
|
| 130 |
+
"inliers": 4894,
|
| 131 |
+
"position_fitted": false,
|
| 132 |
+
"rotvec_deg": [
|
| 133 |
+
-0.2145,
|
| 134 |
+
0.0103,
|
| 135 |
+
-2.0264
|
| 136 |
+
],
|
| 137 |
+
"split_deg": 0.0086,
|
| 138 |
+
"usable": true
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"code_fingerprint": "711ecf5b3dd408f8",
|
| 142 |
+
"device_id": "e17c9efadb69e7b1",
|
| 143 |
+
"factory_root_name": "e17c9efadb69e7b1",
|
| 144 |
+
"files": {
|
| 145 |
+
"imus_cam_l_extrinsic/imus_cam_l_extrinsic-camchain-imucam.yaml": {
|
| 146 |
+
"sha256": "1cdf8594a1d0edf3cb45e83ca05b55380bcf09c2dd3abb8c5211d135a7d16e07",
|
| 147 |
+
"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 148 |
+
},
|
| 149 |
+
"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 150 |
+
"sha256": "0d4c7fdecc46930d3556b04f790cfad838cfcea0ce82721637ed7fe4964d2382",
|
| 151 |
+
"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 152 |
+
},
|
| 153 |
+
"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 154 |
+
"sha256": "c66ca57f942f277475987549fe7c075b64efe0aa9115162e0528735ea42a3172",
|
| 155 |
+
"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 156 |
+
},
|
| 157 |
+
"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 158 |
+
"sha256": "c216997d0d65ae4799b7b52e4f6078a07c580f20b9927cc812e4fb90daf0cd8e",
|
| 159 |
+
"source_sha256": "a395ccfdca89adb8dff52456dd708cbdc62e9346c7e0f15662e0acbec2a0b58d"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"input_fingerprint": "1fe854d85374e5b3",
|
| 163 |
+
"kind": "online_calibration",
|
| 164 |
+
"output_sha256": "4ce8d423f9d90a1c353c40fb534ac4b2a41210b5dd38fb4aad40fbfbcb4e9132",
|
| 165 |
+
"overlap": {
|
| 166 |
+
"left-right": 0.501,
|
| 167 |
+
"left_eye-left": 0.707,
|
| 168 |
+
"left_eye-right": 0.671,
|
| 169 |
+
"left_front-left": 0.478,
|
| 170 |
+
"left_front-left_eye": 0.72,
|
| 171 |
+
"left_front-right": 0.448,
|
| 172 |
+
"left_front-right_eye": 0.732,
|
| 173 |
+
"left_front-right_front": 1.0,
|
| 174 |
+
"right_eye-left": 0.696,
|
| 175 |
+
"right_eye-left_eye": 1.0,
|
| 176 |
+
"right_eye-right": 0.673,
|
| 177 |
+
"right_front-left": 0.464,
|
| 178 |
+
"right_front-left_eye": 0.723,
|
| 179 |
+
"right_front-right": 0.466,
|
| 180 |
+
"right_front-right_eye": 0.734
|
| 181 |
+
},
|
| 182 |
+
"picture_change": {
|
| 183 |
+
"left": 34.526,
|
| 184 |
+
"left_eye": 33.36,
|
| 185 |
+
"left_front": 38.084,
|
| 186 |
+
"right": 35.447,
|
| 187 |
+
"right_eye": 32.194,
|
| 188 |
+
"right_front": 37.316
|
| 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 |
+
25618602126000,
|
| 199 |
+
25619602126000,
|
| 200 |
+
25625602103777,
|
| 201 |
+
25626602103777,
|
| 202 |
+
25630602126000,
|
| 203 |
+
25631602103777,
|
| 204 |
+
25634602103777,
|
| 205 |
+
25635602114888,
|
| 206 |
+
25639602114888,
|
| 207 |
+
25640602114888,
|
| 208 |
+
25644602126000,
|
| 209 |
+
25645602114888,
|
| 210 |
+
25649602259333,
|
| 211 |
+
25650602114888,
|
| 212 |
+
25654602126000,
|
| 213 |
+
25655602114888,
|
| 214 |
+
25656602126000,
|
| 215 |
+
25663602114888,
|
| 216 |
+
25664602126000,
|
| 217 |
+
25667602114888,
|
| 218 |
+
25668602181555,
|
| 219 |
+
25671602126000,
|
| 220 |
+
25672602192666,
|
| 221 |
+
25678602203777,
|
| 222 |
+
25679602126000,
|
| 223 |
+
25680602092666,
|
| 224 |
+
25683602114888,
|
| 225 |
+
25684602103777,
|
| 226 |
+
25690602103777,
|
| 227 |
+
25691602126000,
|
| 228 |
+
25695602103777,
|
| 229 |
+
25696602126000,
|
| 230 |
+
25701602092666,
|
| 231 |
+
25702602237111,
|
| 232 |
+
25705602114888,
|
| 233 |
+
25706602092666,
|
| 234 |
+
25708602126000,
|
| 235 |
+
25709602126000,
|
| 236 |
+
25713602248222,
|
| 237 |
+
25714602126000,
|
| 238 |
+
25719602248222,
|
| 239 |
+
25720602237111,
|
| 240 |
+
25723602092666,
|
| 241 |
+
25724602114888,
|
| 242 |
+
25729602103777,
|
| 243 |
+
25730602114888,
|
| 244 |
+
25734602192666,
|
| 245 |
+
25735602126000,
|
| 246 |
+
25736602137111,
|
| 247 |
+
25743602237111,
|
| 248 |
+
25744602114888,
|
| 249 |
+
25745602181555,
|
| 250 |
+
25753602248222,
|
| 251 |
+
25754602126000,
|
| 252 |
+
25755602137111,
|
| 253 |
+
25756602092666
|
| 254 |
+
]
|
| 255 |
+
},
|
| 256 |
+
"version": 1
|
| 257 |
+
}
|
actions/locomanipulation/LM19/session_022/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:74f2c100cf1d8cba61a307d55f23c6e7361ab0de353995e383417407b44c3f86
|
| 3 |
+
size 824615
|
actions/locomanipulation/LM19/session_022/meta.json
CHANGED
|
@@ -513,5 +513,9 @@
|
|
| 513 |
"family": "locomanipulation",
|
| 514 |
"primitive": "LM19",
|
| 515 |
"source_session": "20260930/LM19/20260930_102038_session133"
|
|
|
|
|
|
|
|
|
|
|
|
|
| 516 |
}
|
| 517 |
}
|
|
|
|
| 513 |
"family": "locomanipulation",
|
| 514 |
"primitive": "LM19",
|
| 515 |
"source_session": "20260930/LM19/20260930_102038_session133"
|
| 516 |
+
},
|
| 517 |
+
"task": {
|
| 518 |
+
"primitive": "LM19",
|
| 519 |
+
"instruction": "Carry one object in each hand, the heavy one in the hand the operator calls, walking back and forth across the room."
|
| 520 |
}
|
| 521 |
}
|