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- .gitattributes +323 -0
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official_data/umi_data/batch2/fold_clothes_e08539/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 2,
|
| 3 |
+
"layers": {
|
| 4 |
+
"subtasks": {
|
| 5 |
+
"source": "human",
|
| 6 |
+
"review": "approved",
|
| 7 |
+
"segments_version": "9b5e02a634fedd92"
|
| 8 |
+
}
|
| 9 |
+
},
|
| 10 |
+
"dropped_layers": [
|
| 11 |
+
"action_steps"
|
| 12 |
+
],
|
| 13 |
+
"created_at": "2026-08-30T19:02:11+0800"
|
| 14 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00050/meta/calibration.json
ADDED
|
@@ -0,0 +1,333 @@
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
+
"sides": {
|
| 4 |
+
"left": {
|
| 5 |
+
"ego_video": {
|
| 6 |
+
"source": "fisheye.mp4",
|
| 7 |
+
"insv_stream": 0,
|
| 8 |
+
"lens": "front",
|
| 9 |
+
"native_size": [
|
| 10 |
+
1920,
|
| 11 |
+
1920
|
| 12 |
+
],
|
| 13 |
+
"dataset_size": [
|
| 14 |
+
960,
|
| 15 |
+
960
|
| 16 |
+
]
|
| 17 |
+
},
|
| 18 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 19 |
+
"imu": {
|
| 20 |
+
"gyro_range_dps": 2000.0,
|
| 21 |
+
"accel_range_g": 32.0,
|
| 22 |
+
"gyro_bias_rad_s": [
|
| 23 |
+
-0.0013867632554003927,
|
| 24 |
+
-0.008702634237893705,
|
| 25 |
+
0.00043594322021658514
|
| 26 |
+
],
|
| 27 |
+
"accel_bias_m_s2": [
|
| 28 |
+
0.0503796935657597,
|
| 29 |
+
0.06368103280953678,
|
| 30 |
+
-0.10290447774487302
|
| 31 |
+
],
|
| 32 |
+
"gravity_vector_camera_frame": [
|
| 33 |
+
0.026632700560853522,
|
| 34 |
+
-0.7526580757535379,
|
| 35 |
+
-0.6578727234532655
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.809451441412858,
|
| 38 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 39 |
+
},
|
| 40 |
+
"lenses": {
|
| 41 |
+
"front": {
|
| 42 |
+
"model": "ucm_mei_radtan",
|
| 43 |
+
"canvas": [
|
| 44 |
+
15360,
|
| 45 |
+
7680
|
| 46 |
+
],
|
| 47 |
+
"params_on_canvas": {
|
| 48 |
+
"xi": 2.31494,
|
| 49 |
+
"fx": 7151.64,
|
| 50 |
+
"fy": 7150.25,
|
| 51 |
+
"cx": 3825.2,
|
| 52 |
+
"cy": 3856.77,
|
| 53 |
+
"k1": 0.96616316,
|
| 54 |
+
"k2": -1.84301269,
|
| 55 |
+
"k3": 3.4789691,
|
| 56 |
+
"p1": -0.00073036,
|
| 57 |
+
"p2": 0.00056983
|
| 58 |
+
},
|
| 59 |
+
"params_on_native_fisheye": {
|
| 60 |
+
"xi": 2.31494,
|
| 61 |
+
"k1": 0.966163,
|
| 62 |
+
"k2": -1.843013,
|
| 63 |
+
"k3": 3.478969,
|
| 64 |
+
"p1": -0.00073,
|
| 65 |
+
"p2": 0.00057,
|
| 66 |
+
"fx": 1787.91,
|
| 67 |
+
"fy": 1787.5625,
|
| 68 |
+
"cx": 956.3,
|
| 69 |
+
"cy": 964.1925
|
| 70 |
+
},
|
| 71 |
+
"cam_imu_factory": {
|
| 72 |
+
"yaw_deg": 0.038,
|
| 73 |
+
"pitch_deg": -0.111,
|
| 74 |
+
"roll_deg": 90.251,
|
| 75 |
+
"t_m": [
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
]
|
| 80 |
+
},
|
| 81 |
+
"params_on_dataset_frame": {
|
| 82 |
+
"xi": 2.31494,
|
| 83 |
+
"k1": 0.966163,
|
| 84 |
+
"k2": -1.843013,
|
| 85 |
+
"k3": 3.478969,
|
| 86 |
+
"p1": -0.00073,
|
| 87 |
+
"p2": 0.00057,
|
| 88 |
+
"fx": 893.955,
|
| 89 |
+
"fy": 893.78125,
|
| 90 |
+
"cx": 478.15,
|
| 91 |
+
"cy": 482.09625
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"rear": {
|
| 95 |
+
"model": "ucm_mei_radtan",
|
| 96 |
+
"canvas": [
|
| 97 |
+
15360,
|
| 98 |
+
7680
|
| 99 |
+
],
|
| 100 |
+
"params_on_canvas": {
|
| 101 |
+
"xi": 2.31494,
|
| 102 |
+
"fx": 7112.96,
|
| 103 |
+
"fy": 7112.38,
|
| 104 |
+
"cx": 11536.9,
|
| 105 |
+
"cy": 3832.74,
|
| 106 |
+
"k1": 0.97610056,
|
| 107 |
+
"k2": -2.08686185,
|
| 108 |
+
"k3": 4.44184732,
|
| 109 |
+
"p1": 0.00037154,
|
| 110 |
+
"p2": 0.00087007
|
| 111 |
+
},
|
| 112 |
+
"params_on_native_fisheye": {
|
| 113 |
+
"xi": 2.31494,
|
| 114 |
+
"k1": 0.976101,
|
| 115 |
+
"k2": -2.086862,
|
| 116 |
+
"k3": 4.441847,
|
| 117 |
+
"p1": 0.000372,
|
| 118 |
+
"p2": 0.00087,
|
| 119 |
+
"fx": 1778.24,
|
| 120 |
+
"fy": 1778.095,
|
| 121 |
+
"cx": 964.225,
|
| 122 |
+
"cy": 958.185
|
| 123 |
+
},
|
| 124 |
+
"cam_imu_factory": {
|
| 125 |
+
"yaw_deg": -0.18,
|
| 126 |
+
"pitch_deg": 0.037,
|
| 127 |
+
"roll_deg": 89.556,
|
| 128 |
+
"t_m": [
|
| 129 |
+
0.000857,
|
| 130 |
+
0.000123,
|
| 131 |
+
-0.03356
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"cam_imu_used_by_cook": {
|
| 137 |
+
"R_cam_imu": [
|
| 138 |
+
[
|
| 139 |
+
0.0019373142578613613,
|
| 140 |
+
0.0006632238225311149,
|
| 141 |
+
0.9999979034716158
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.999988527837293,
|
| 145 |
+
-0.0043820463100301965,
|
| 146 |
+
-0.0019343898106758783
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.004380754189541147,
|
| 150 |
+
0.9999901788539213,
|
| 151 |
+
-0.0006717056147145419
|
| 152 |
+
]
|
| 153 |
+
],
|
| 154 |
+
"t_cam_imu_m": [
|
| 155 |
+
0.004100510626148365,
|
| 156 |
+
-0.001160295357225906,
|
| 157 |
+
-0.025483155366164204
|
| 158 |
+
],
|
| 159 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 160 |
+
},
|
| 161 |
+
"provenance": {
|
| 162 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 163 |
+
"kalibr_refined": false,
|
| 164 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 165 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"right": {
|
| 169 |
+
"ego_video": {
|
| 170 |
+
"source": "fisheye.mp4",
|
| 171 |
+
"insv_stream": 0,
|
| 172 |
+
"lens": "front",
|
| 173 |
+
"native_size": [
|
| 174 |
+
1920,
|
| 175 |
+
1920
|
| 176 |
+
],
|
| 177 |
+
"dataset_size": [
|
| 178 |
+
960,
|
| 179 |
+
960
|
| 180 |
+
]
|
| 181 |
+
},
|
| 182 |
+
"rolling_shutter_ms": 15.845431327819824,
|
| 183 |
+
"imu": {
|
| 184 |
+
"gyro_range_dps": 2000.0,
|
| 185 |
+
"accel_range_g": 32.0,
|
| 186 |
+
"gyro_bias_rad_s": [
|
| 187 |
+
-0.003812722102728109,
|
| 188 |
+
-0.008879356853717553,
|
| 189 |
+
-0.001709114831144977
|
| 190 |
+
],
|
| 191 |
+
"accel_bias_m_s2": [
|
| 192 |
+
-0.08276988688218828,
|
| 193 |
+
0.002346097679111282,
|
| 194 |
+
-0.013017165897631735
|
| 195 |
+
],
|
| 196 |
+
"gravity_vector_camera_frame": [
|
| 197 |
+
0.006343755592761181,
|
| 198 |
+
-0.7585448197117667,
|
| 199 |
+
-0.6515899886074239
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.824750911859866,
|
| 202 |
+
"accel_convention": "imu_raw.csv is standard specific force (a ~ -g_body at rest) and is NOT negated; gravity = -(gravity_vector_camera_frame). See docs/46"
|
| 203 |
+
},
|
| 204 |
+
"lenses": {
|
| 205 |
+
"front": {
|
| 206 |
+
"model": "ucm_mei_radtan",
|
| 207 |
+
"canvas": [
|
| 208 |
+
15360,
|
| 209 |
+
7680
|
| 210 |
+
],
|
| 211 |
+
"params_on_canvas": {
|
| 212 |
+
"xi": 2.31494,
|
| 213 |
+
"fx": 7144.3,
|
| 214 |
+
"fy": 7140.36,
|
| 215 |
+
"cx": 3828.19,
|
| 216 |
+
"cy": 3860.43,
|
| 217 |
+
"k1": 0.95641762,
|
| 218 |
+
"k2": -1.85701871,
|
| 219 |
+
"k3": 3.5351615,
|
| 220 |
+
"p1": -0.00076912,
|
| 221 |
+
"p2": -0.00104643
|
| 222 |
+
},
|
| 223 |
+
"params_on_native_fisheye": {
|
| 224 |
+
"xi": 2.31494,
|
| 225 |
+
"k1": 0.956418,
|
| 226 |
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"k2": -1.857019,
|
| 227 |
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"k3": 3.535162,
|
| 228 |
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"p1": -0.000769,
|
| 229 |
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"p2": -0.001046,
|
| 230 |
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"fx": 1786.075,
|
| 231 |
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"fy": 1785.09,
|
| 232 |
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"cx": 957.0475,
|
| 233 |
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"cy": 965.1075
|
| 234 |
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},
|
| 235 |
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"cam_imu_factory": {
|
| 236 |
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"yaw_deg": 0.222,
|
| 237 |
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"pitch_deg": 0.1,
|
| 238 |
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"roll_deg": 89.795,
|
| 239 |
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"t_m": [
|
| 240 |
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0.0,
|
| 241 |
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0.0,
|
| 242 |
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0.0
|
| 243 |
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]
|
| 244 |
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},
|
| 245 |
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"params_on_dataset_frame": {
|
| 246 |
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"xi": 2.31494,
|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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"fy": 892.545,
|
| 254 |
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"cx": 478.52375,
|
| 255 |
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"cy": 482.55375
|
| 256 |
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}
|
| 257 |
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},
|
| 258 |
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"rear": {
|
| 259 |
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"model": "ucm_mei_radtan",
|
| 260 |
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"canvas": [
|
| 261 |
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15360,
|
| 262 |
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7680
|
| 263 |
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],
|
| 264 |
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|
| 265 |
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|
| 266 |
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"fx": 7131.67,
|
| 267 |
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|
| 268 |
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"cx": 11542.4,
|
| 269 |
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|
| 270 |
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|
| 271 |
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"k2": -2.16964269,
|
| 272 |
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"k3": 4.22772408,
|
| 273 |
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"p1": -0.00106036,
|
| 274 |
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"p2": -0.00272907
|
| 275 |
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},
|
| 276 |
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"params_on_native_fisheye": {
|
| 277 |
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"xi": 2.31494,
|
| 278 |
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|
| 279 |
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"k2": -2.169643,
|
| 280 |
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|
| 281 |
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|
| 282 |
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"p2": -0.002729,
|
| 283 |
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|
| 284 |
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|
| 285 |
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"cx": 965.6,
|
| 286 |
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"cy": 969.24
|
| 287 |
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},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
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"yaw_deg": -0.064,
|
| 290 |
+
"pitch_deg": 0.149,
|
| 291 |
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"roll_deg": 89.457,
|
| 292 |
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"t_m": [
|
| 293 |
+
0.001875,
|
| 294 |
+
-5.7e-05,
|
| 295 |
+
-0.032888
|
| 296 |
+
]
|
| 297 |
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}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
-0.003698620751528131,
|
| 304 |
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0.00442383717822975,
|
| 305 |
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0.9999833747963798
|
| 306 |
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],
|
| 307 |
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[
|
| 308 |
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|
| 309 |
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|
| 310 |
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0.0036839507620446965
|
| 311 |
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],
|
| 312 |
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[
|
| 313 |
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-0.0033033352797848248,
|
| 314 |
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|
| 315 |
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|
| 316 |
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]
|
| 317 |
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],
|
| 318 |
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"t_cam_imu_m": [
|
| 319 |
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|
| 320 |
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-0.001160295357225906,
|
| 321 |
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-0.025483155366164204
|
| 322 |
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],
|
| 323 |
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"source": "Tic=Kalibr(REDACTED, factory-resid 0.12deg); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
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"provenance": {
|
| 326 |
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"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
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"kalibr_refined": true,
|
| 328 |
+
"pose_frame": "cubemap front virtual pinhole, 110 deg FoV / tilt 70 / 640 px",
|
| 329 |
+
"pose_frame_note": "state/action poses (T_w_cam) live in this virtual pinhole frame, NOT the fisheye frame of the delivered video. When the body has no Kalibr EUCM calibration the LUT is borrowed from another body \u2014 see cam_imu_used_by_cook.source."
|
| 330 |
+
}
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00050/meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
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|
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|
| 1 |
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{
|
| 2 |
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"codebase_version": "v3.0",
|
| 3 |
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"robot_type": "umi_bimanual_gripper",
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
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|
| 8 |
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|
| 9 |
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|
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|
| 11 |
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"splits": {
|
| 12 |
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"train": "0:1"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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|
| 18 |
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|
| 19 |
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| 20 |
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|
| 21 |
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|
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|
| 23 |
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| 24 |
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| 25 |
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|
| 26 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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}
|
| 39 |
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|
| 40 |
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|
| 41 |
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| 42 |
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| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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],
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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"observation.state": {
|
| 64 |
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"dtype": "float32",
|
| 65 |
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|
| 66 |
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|
| 67 |
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],
|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"left_qw",
|
| 73 |
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"left_qx",
|
| 74 |
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"left_qy",
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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"right_qz",
|
| 84 |
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|
| 85 |
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]
|
| 86 |
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|
| 87 |
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"action": {
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| 88 |
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|
| 89 |
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| 90 |
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|
| 91 |
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],
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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]
|
| 110 |
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},
|
| 111 |
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"timestamp": {
|
| 112 |
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|
| 113 |
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| 114 |
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|
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|
| 116 |
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|
| 117 |
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| 118 |
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| 120 |
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| 121 |
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|
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],
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| 123 |
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|
| 124 |
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},
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
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},
|
| 132 |
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| 133 |
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|
| 134 |
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| 135 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
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| 143 |
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}
|
| 146 |
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}
|
| 147 |
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}
|
official_data/umi_data/batch2/fold_clothes_e00050/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
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| 1 |
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| 2 |
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official_data/umi_data/batch2/fold_clothes_e00245/videos/observation.images.right_ego/chunk-000/file-000.mp4
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