Release update 2026-11-05: new sessions, instructions, annotations (part 97)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +18 -0
- actions/long_horizon_composite/LH05/session_010/raw/mocap/Tracker0.trc +0 -0
- actions/long_horizon_composite/LH05/session_010/raw/sensors/robocap_imu_left.db +3 -0
- actions/long_horizon_composite/LH05/session_010/raw/sensors/robocap_imu_right.db +3 -0
- actions/long_horizon_composite/LH05/session_010/raw/sensors/robocap_mag_middle.db +3 -0
- actions/long_horizon_composite/LH05/session_010/raw/sensors/robowrist_imu_left.db +3 -0
- actions/long_horizon_composite/LH05/session_010/raw/sensors/robowrist_imu_right.db +3 -0
- actions/long_horizon_composite/LH05/session_010/raw/sensors/robowrist_mag_left.db +3 -0
- actions/long_horizon_composite/LH05/session_010/raw/sensors/robowrist_mag_right.db +3 -0
- actions/long_horizon_composite/LH05/session_010/sensors/head_imu.npz +3 -0
- actions/long_horizon_composite/LH05/session_010/sensors/head_mag.npz +3 -0
- actions/long_horizon_composite/LH05/session_010/sensors/wrist_imu.npz +3 -0
- actions/long_horizon_composite/LH05/session_010/sensors/wrist_mag.npz +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/frame_timestamps.npz +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/head_left.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/head_left_eye.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/head_left_front.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/head_right.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/head_right_eye.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/head_right_front.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/third_person.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/wrist_left.mp4 +3 -0
- actions/long_horizon_composite/LH05/session_010/videos/wrist_right.mp4 +3 -0
- actions/long_horizon_composite/LH06/session_001/annotations.json +28 -0
- actions/long_horizon_composite/LH06/session_001/cameras/gsi_online_calibration.json +258 -0
- actions/long_horizon_composite/LH06/session_001/cameras/slam.npz +3 -0
- actions/long_horizon_composite/LH06/session_001/meta.json +116 -2
- actions/long_horizon_composite/LH06/session_001/motions/hands_mano.npz +3 -0
- actions/long_horizon_composite/LH06/session_001/motions/smplx.npz +2 -2
- actions/long_horizon_composite/LH06/session_002/cameras/gsi_online_calibration.json +254 -0
- actions/long_horizon_composite/LH06/session_002/cameras/poses.npz +2 -2
- actions/long_horizon_composite/LH06/session_002/cameras/slam.npz +3 -0
- actions/long_horizon_composite/LH06/session_002/meta.json +28 -24
- actions/long_horizon_composite/LH06/session_002/motions/hands_mano.npz +3 -0
- actions/long_horizon_composite/LH06/session_002/motions/head_rig.npz +2 -2
- actions/long_horizon_composite/LH06/session_003/cameras/gsi_online_calibration.json +256 -0
- actions/long_horizon_composite/LH06/session_003/cameras/poses.npz +2 -2
- actions/long_horizon_composite/LH06/session_003/cameras/slam.npz +3 -0
- actions/long_horizon_composite/LH06/session_003/meta.json +27 -23
- actions/long_horizon_composite/LH06/session_003/motions/hands_mano.npz +3 -0
- actions/long_horizon_composite/LH06/session_003/motions/head_rig.npz +2 -2
- actions/long_horizon_composite/LH06/session_004/cameras/gsi_online_calibration.json +258 -0
- actions/long_horizon_composite/LH06/session_004/cameras/poses.npz +2 -2
- actions/long_horizon_composite/LH06/session_004/cameras/slam.npz +3 -0
- actions/long_horizon_composite/LH06/session_004/meta.json +27 -23
- actions/long_horizon_composite/LH06/session_004/motions/hands_mano.npz +3 -0
- actions/long_horizon_composite/LH06/session_004/motions/head_rig.npz +2 -2
- actions/long_horizon_composite/LH06/session_005/annotations.json +28 -0
- actions/long_horizon_composite/LH06/session_005/cameras/gsi_online_calibration.json +267 -0
- actions/long_horizon_composite/LH06/session_005/cameras/slam.npz +3 -0
.gitattributes
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actions/long_horizon_composite/LH05/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH05/session_009/raw/sensors/robowrist_mag_right.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH05/session_010/raw/sensors/robocap_mag_middle.db filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH07/session_014/raw/mocap/Body0.csv filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH07/session_014/raw/mocap/Body0.trc filter=lfs diff=lfs merge=lfs -text
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actions/long_horizon_composite/LH05/session_010/raw/mocap/Tracker0.trc
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actions/long_horizon_composite/LH05/session_010/raw/sensors/robocap_imu_left.db
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actions/long_horizon_composite/LH06/session_001/annotations.json
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{
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"schema_version": 1,
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"source": "vendor annotation.json (schema 2, revision 1)",
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"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",
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"primitive": "LH06",
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"instruction": "1. Clear everything off the table and put it away on the shelves. 2. Then set the table back up the way the operator shows you in the photo. 3. Tell the operator when you are finished.",
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"segments": [
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{
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"id": "segment1",
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"duration_s": 233.966656,
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"video": "left_eye",
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"video_t_start": 0.039327404542562894
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}
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],
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"episodes": [
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{
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"id": "1bb10126-9eb4-4d21-8486-a322e2cd59a8",
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"segment": "segment1",
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"action": "LH06",
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"quality": "valid",
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"start_s": 1.66,
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| 22 |
+
"end_s": 225.952,
|
| 23 |
+
"t_start": 1.6993,
|
| 24 |
+
"t_end": 225.9913,
|
| 25 |
+
"instruction": "1. Clear everything off the table and put it away on the shelves. 2. Then set the table back up the way the operator shows you in the photo. 3. Tell the operator when you are finished."
|
| 26 |
+
}
|
| 27 |
+
]
|
| 28 |
+
}
|
actions/long_horizon_composite/LH06/session_001/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,258 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
+
"groups_dropped": [],
|
| 4 |
+
"groups_used": 14,
|
| 5 |
+
"median_px": 0.458
|
| 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": 0.8646,
|
| 17 |
+
"gate_fail": [],
|
| 18 |
+
"held_out_px_after": 0.539,
|
| 19 |
+
"held_out_px_before": 4.657,
|
| 20 |
+
"inliers": 1937,
|
| 21 |
+
"position_fitted": false,
|
| 22 |
+
"rotvec_deg": [
|
| 23 |
+
0.3464,
|
| 24 |
+
-0.328,
|
| 25 |
+
-0.7211
|
| 26 |
+
],
|
| 27 |
+
"split_deg": 0.0555,
|
| 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": 1.8078,
|
| 40 |
+
"gate_fail": [],
|
| 41 |
+
"held_out_px_after": 0.473,
|
| 42 |
+
"held_out_px_before": 5.549,
|
| 43 |
+
"inliers": 3247,
|
| 44 |
+
"position_fitted": true,
|
| 45 |
+
"position_mm": [
|
| 46 |
+
7.98,
|
| 47 |
+
-19.69,
|
| 48 |
+
5.02
|
| 49 |
+
],
|
| 50 |
+
"position_sigma_mm": 0.18,
|
| 51 |
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"position_split_mm": 1.147,
|
| 52 |
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"rotvec_deg": [
|
| 53 |
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-0.0973,
|
| 54 |
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0.5391,
|
| 55 |
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-1.7228
|
| 56 |
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],
|
| 57 |
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"split_deg": 0.0428,
|
| 58 |
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"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": 1.1383,
|
| 72 |
+
"gate_fail": [],
|
| 73 |
+
"held_out_px_after": 0.633,
|
| 74 |
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"held_out_px_before": 3.857,
|
| 75 |
+
"inliers": 1823,
|
| 76 |
+
"position_fitted": false,
|
| 77 |
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"rotvec_deg": [
|
| 78 |
+
1.0455,
|
| 79 |
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-0.4053,
|
| 80 |
+
-0.1957
|
| 81 |
+
],
|
| 82 |
+
"split_deg": 0.1701,
|
| 83 |
+
"usable": true
|
| 84 |
+
},
|
| 85 |
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"right_eye": {
|
| 86 |
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"accepted": true,
|
| 87 |
+
"against": [
|
| 88 |
+
"left_front",
|
| 89 |
+
"right_front",
|
| 90 |
+
"left_eye",
|
| 91 |
+
"left",
|
| 92 |
+
"right"
|
| 93 |
+
],
|
| 94 |
+
"delta_deg": 0.6558,
|
| 95 |
+
"gate_fail": [],
|
| 96 |
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"held_out_px_after": 0.454,
|
| 97 |
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"held_out_px_before": 3.161,
|
| 98 |
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"inliers": 2991,
|
| 99 |
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"position_fitted": true,
|
| 100 |
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"position_mm": [
|
| 101 |
+
6.71,
|
| 102 |
+
-20.59,
|
| 103 |
+
3.74
|
| 104 |
+
],
|
| 105 |
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"position_sigma_mm": 0.172,
|
| 106 |
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"position_split_mm": 1.184,
|
| 107 |
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"rotvec_deg": [
|
| 108 |
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0.1285,
|
| 109 |
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-0.5247,
|
| 110 |
+
-0.3718
|
| 111 |
+
],
|
| 112 |
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"split_deg": 0.0663,
|
| 113 |
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"usable": true
|
| 114 |
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},
|
| 115 |
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"right_front": {
|
| 116 |
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"accepted": true,
|
| 117 |
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"against": [
|
| 118 |
+
"left_front",
|
| 119 |
+
"left_eye",
|
| 120 |
+
"right_eye",
|
| 121 |
+
"left",
|
| 122 |
+
"right"
|
| 123 |
+
],
|
| 124 |
+
"delta_deg": 1.3587,
|
| 125 |
+
"gate_fail": [],
|
| 126 |
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"held_out_px_after": 0.409,
|
| 127 |
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"held_out_px_before": 4.781,
|
| 128 |
+
"inliers": 3180,
|
| 129 |
+
"position_fitted": false,
|
| 130 |
+
"rotvec_deg": [
|
| 131 |
+
-0.4479,
|
| 132 |
+
-0.0918,
|
| 133 |
+
-1.2795
|
| 134 |
+
],
|
| 135 |
+
"split_deg": 0.0086,
|
| 136 |
+
"usable": true
|
| 137 |
+
}
|
| 138 |
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},
|
| 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": "fb012a3d7fb26a334ea16ea06c24d5ce40a74d3667a7bcca860247b5c59bb0cd",
|
| 145 |
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"source_sha256": "12d14661c072da4c7fd06ab2510243281de5a3641128f7dccbc18b18e4dde26b"
|
| 146 |
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},
|
| 147 |
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"imus_cam_lr_eye_extrinsic/imus_cam_lr_eye_extrinsic-camchain-imucam.yaml": {
|
| 148 |
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"sha256": "455c03a352caa6a72053a5b09b2b180f03b3f1cf494669b5a96f1dc5f7863fd8",
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| 149 |
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"source_sha256": "62be86301e193357cc7072d68d3e1c3b0405cd6e390bcaab773dcf7368699eea"
|
| 150 |
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},
|
| 151 |
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"imus_cam_lr_front_extrinsic/imus_cam_lr_front_extrinsic-camchain-imucam.yaml": {
|
| 152 |
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"sha256": "bf8d5c6ba7ce2eda6099558d5483f15d255701294210ccd2656ba9f46a298bae",
|
| 153 |
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"source_sha256": "eeab4a79391b65ab22f93c21fbac3a77736e8f2f7872d6978e8c8c5b1409995e"
|
| 154 |
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},
|
| 155 |
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"imus_cam_r_extrinsic/imus_cam_r_extrinsic-camchain-imucam.yaml": {
|
| 156 |
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"sha256": "01916f85b3e3b492d4307a14c98f1b6f726ea2a4abefb5957b3b01132faa8f8f",
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| 157 |
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| 158 |
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}
|
| 159 |
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},
|
| 160 |
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"input_fingerprint": "3d4ac497f647484d",
|
| 161 |
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"kind": "online_calibration",
|
| 162 |
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"output_sha256": "c0f1a23ae18df8ec1263a6cba7ca053d0347b6d5db3156c7d341c114876fe5f1",
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| 163 |
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"overlap": {
|
| 164 |
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"left-right": 0.501,
|
| 165 |
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"left_eye-left": 0.707,
|
| 166 |
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|
| 167 |
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"left_front-left": 0.478,
|
| 168 |
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"left_front-left_eye": 0.72,
|
| 169 |
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"left_front-right": 0.448,
|
| 170 |
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|
| 171 |
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"left_front-right_front": 1.0,
|
| 172 |
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|
| 173 |
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"right_eye-left_eye": 1.0,
|
| 174 |
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| 175 |
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| 176 |
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|
| 177 |
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|
| 178 |
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"right_front-right_eye": 0.734
|
| 179 |
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},
|
| 180 |
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|
| 181 |
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"left": 41.173,
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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| 186 |
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| 187 |
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},
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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},
|
| 257 |
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"version": 1
|
| 258 |
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}
|
actions/long_horizon_composite/LH06/session_001/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1141bbddee5b92723adf9abb8485d5f3be28f067fd6ef32242f496d1ca36989a
|
| 3 |
+
size 1339905
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actions/long_horizon_composite/LH06/session_001/meta.json
CHANGED
|
@@ -328,8 +328,8 @@
|
|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
-
"observed":
|
| 332 |
-
"hand_pose": "
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
"hand_marker_offsets_m": {
|
| 335 |
"left": {
|
|
@@ -551,10 +551,124 @@
|
|
| 551 |
},
|
| 552 |
"applied": 1
|
| 553 |
},
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| 554 |
"release": {
|
| 555 |
"release_path": "actions/long_horizon_composite/LH06/session_001",
|
| 556 |
"family": "long_horizon_composite",
|
| 557 |
"primitive": "LH06",
|
| 558 |
"source_session": "20260916/LH06/20260916_025034_session37"
|
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|
| 559 |
}
|
| 560 |
}
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|
| 328 |
"frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
|
| 329 |
"pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
|
| 330 |
"hands": {
|
| 331 |
+
"observed": true,
|
| 332 |
+
"hand_pose": "GSI (scripts/gsi_hand_session.py) fingers registered (scripts/register_hands_smplx.py); flat where hand_observed is False",
|
| 333 |
"wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
|
| 334 |
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|
| 335 |
"left": {
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|
| 551 |
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"applied": 1
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| 557 |
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| 558 |
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],
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"median": 16.44,
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},
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| 577 |
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"tier": "primary",
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}
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| 593 |
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"median": 9.7,
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"registered": {
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"p90": 9.9
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| 602 |
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}
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| 603 |
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}
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},
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| 605 |
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"right": {
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"offset_deg": 12.03,
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"offset_rotvec": [
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-0.1539,
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0.1397
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| 611 |
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],
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"dev_deg": {
|
| 613 |
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"median": 7.47,
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"p90": 18.13
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| 615 |
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},
|
| 616 |
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"samples": 6579,
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| 617 |
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"accepted": 6263,
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| 618 |
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"wrist_pos_err_mm_median": 33.9,
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| 619 |
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"per_camera": {
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"head": {
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| 621 |
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"samples": 6579,
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"accepted": 6263,
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"gate_deg": 30.0,
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| 624 |
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"tier": "primary",
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"dev_deg_median": 7.47,
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| 641 |
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"median": 8.2,
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"registered": {
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"p90": 10.1
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}
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}
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| 653 |
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},
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"max_dev_deg": 30.0,
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| 656 |
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"cameras_used": [
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"head"
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],
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| 659 |
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"generated_at_utc": "2026-11-03T23:07:45.422184+00:00",
|
| 660 |
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"generated_by": "scripts/register_hands_smplx.py",
|
| 661 |
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"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",
|
| 662 |
+
"wrist_flip_suspect": []
|
| 663 |
+
},
|
| 664 |
"release": {
|
| 665 |
"release_path": "actions/long_horizon_composite/LH06/session_001",
|
| 666 |
"family": "long_horizon_composite",
|
| 667 |
"primitive": "LH06",
|
| 668 |
"source_session": "20260916/LH06/20260916_025034_session37"
|
| 669 |
+
},
|
| 670 |
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"task": {
|
| 671 |
+
"primitive": "LH06",
|
| 672 |
+
"instruction": "1. Clear everything off the table and put it away on the shelves. 2. Then set the table back up the way the operator shows you in the photo. 3. Tell the operator when you are finished."
|
| 673 |
}
|
| 674 |
}
|
actions/long_horizon_composite/LH06/session_001/motions/hands_mano.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:fcb20e0e83a7793938a20b984a21b7e7c708a7f4703bc3d9b36e56ac01748889
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| 3 |
+
size 9085345
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actions/long_horizon_composite/LH06/session_001/motions/smplx.npz
CHANGED
|
@@ -1,3 +1,3 @@
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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size
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version https://git-lfs.github.com/spec/v1
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oid sha256:23ac9ab837cd2f86bcb1048c61141909ef1fe591054fe809d5932cad58c2a700
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size 19636926
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actions/long_horizon_composite/LH06/session_002/cameras/gsi_online_calibration.json
ADDED
|
@@ -0,0 +1,254 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"camera_fit": {
|
| 3 |
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"groups_dropped": [],
|
| 4 |
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"groups_used": 14,
|
| 5 |
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"median_px": 0.395
|
| 6 |
+
},
|
| 7 |
+
"cameras": {
|
| 8 |
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"left": {
|
| 9 |
+
"accepted": true,
|
| 10 |
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"against": [
|
| 11 |
+
"left_front",
|
| 12 |
+
"right_front",
|
| 13 |
+
"left_eye",
|
| 14 |
+
"right_eye"
|
| 15 |
+
],
|
| 16 |
+
"delta_deg": 1.6335,
|
| 17 |
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"gate_fail": [],
|
| 18 |
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"held_out_px_after": 0.982,
|
| 19 |
+
"held_out_px_before": 18.886,
|
| 20 |
+
"inliers": 1138,
|
| 21 |
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"position_fitted": false,
|
| 22 |
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"rotvec_deg": [
|
| 23 |
+
-0.9933,
|
| 24 |
+
-0.1888,
|
| 25 |
+
-1.283
|
| 26 |
+
],
|
| 27 |
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"split_deg": 0.0901,
|
| 28 |
+
"usable": true
|
| 29 |
+
},
|
| 30 |
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"left_eye": {
|
| 31 |
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"accepted": true,
|
| 32 |
+
"against": [
|
| 33 |
+
"left_front",
|
| 34 |
+
"right_front",
|
| 35 |
+
"right_eye",
|
| 36 |
+
"left",
|
| 37 |
+
"right"
|
| 38 |
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],
|
| 39 |
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"delta_deg": 2.3237,
|
| 40 |
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"gate_fail": [],
|
| 41 |
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"held_out_px_after": 0.423,
|
| 42 |
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"held_out_px_before": 6.002,
|
| 43 |
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"inliers": 4590,
|
| 44 |
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"position_fitted": true,
|
| 45 |
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"position_mm": [
|
| 46 |
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-0.75,
|
| 47 |
+
-25.49,
|
| 48 |
+
-1.81
|
| 49 |
+
],
|
| 50 |
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"position_sigma_mm": 0.163,
|
| 51 |
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"position_split_mm": 0.764,
|
| 52 |
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"rotvec_deg": [
|
| 53 |
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1.7956,
|
| 54 |
+
-0.6983,
|
| 55 |
+
1.2991
|
| 56 |
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| 268 |
"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
|
| 269 |
"R_canon_nokov": [
|
| 270 |
[
|
| 271 |
-
0.
|
| 272 |
-
0.
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| 273 |
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1.
|
| 274 |
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| 275 |
[
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| 276 |
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-1.
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0.
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[
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0.
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0.
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| 284 |
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|
| 287 |
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|
| 288 |
[
|
| 289 |
-
0.
|
| 290 |
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4.
|
| 291 |
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1.
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0.0
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| 293 |
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[
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[
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|
@@ -312,7 +312,7 @@
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| 312 |
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"block": "20261023-morning",
|
| 314 |
"block_assignment": "trc",
|
| 315 |
-
"tilt_removed_deg": 0.
|
| 316 |
"plane_status": "ok",
|
| 317 |
"floor": {
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| 318 |
"sole_marker_p1_mm": 26.6,
|
|
@@ -321,11 +321,11 @@
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| 321 |
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"tilt_from_z_deg": 0.
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@@ -504,6 +504,10 @@
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"primitive": "LH06",
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| 263 |
"compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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"generated_at_utc": "2026-11-03T09:16:51.767348+00:00",
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"generated_by": "scripts/canonicalise_dataset.py",
|
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"frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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[
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[
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"block": "20261023-morning",
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|
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"tilt_removed_deg": 0.4322755857928103,
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9.803
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|
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"primitive": "LH06",
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"source_session": "20261023/LH06/20261023_042117_session49"
|
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},
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"task": {
|
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"primitive": "LH06",
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"instruction": "1. Clear everything off the table and put it away on the shelves. 2. Then set the table back up the way the operator shows you in the photo. 3. Tell the operator when you are finished."
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},
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| 1 |
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| 2 |
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| 3 |
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| 10 |
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| 11 |
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| 14 |
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| 15 |
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| 17 |
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| 19 |
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| 26 |
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| 44 |
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| 71 |
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| 73 |
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| 74 |
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}
|
actions/long_horizon_composite/LH06/session_005/cameras/slam.npz
ADDED
|
@@ -0,0 +1,3 @@
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:c8638197882af92dc9da346050029dd0dd09714bbe4c1303773b70342ae929ae
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| 3 |
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size 1796468
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