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- .gitattributes +24 -0
- official_data/umi_data/batch2/fold_clothes_e00556/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00556/data/chunk-000/file-000.parquet +3 -0
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official_data/umi_data/batch2/fold_clothes_e00556/imu/episode_0000_right.csv
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official_data/umi_data/batch2/fold_clothes_e00556/meta/annotation.json
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official_data/umi_data/batch2/fold_clothes_e00556/meta/calibration.json
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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 |
+
-0.002518561250610984,
|
| 24 |
+
-0.0072885972069277535,
|
| 25 |
+
0.002915579310339975
|
| 26 |
+
],
|
| 27 |
+
"accel_bias_m_s2": [
|
| 28 |
+
0.0773645481000228,
|
| 29 |
+
-0.004034349015599402,
|
| 30 |
+
-0.017035712340228843
|
| 31 |
+
],
|
| 32 |
+
"gravity_vector_camera_frame": [
|
| 33 |
+
-0.01673029578641069,
|
| 34 |
+
-0.4058542366912388,
|
| 35 |
+
-0.9137846769139173
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.858554800820675,
|
| 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": 7122.31,
|
| 50 |
+
"fy": 7123.19,
|
| 51 |
+
"cx": 3850.16,
|
| 52 |
+
"cy": 3863.11,
|
| 53 |
+
"k1": 0.97814524,
|
| 54 |
+
"k2": -2.0472424,
|
| 55 |
+
"k3": 4.22111225,
|
| 56 |
+
"p1": -0.00088488,
|
| 57 |
+
"p2": 0.00103413
|
| 58 |
+
},
|
| 59 |
+
"params_on_native_fisheye": {
|
| 60 |
+
"xi": 2.31494,
|
| 61 |
+
"k1": 0.978145,
|
| 62 |
+
"k2": -2.047242,
|
| 63 |
+
"k3": 4.221112,
|
| 64 |
+
"p1": -0.000885,
|
| 65 |
+
"p2": 0.001034,
|
| 66 |
+
"fx": 1780.5775,
|
| 67 |
+
"fy": 1780.7975,
|
| 68 |
+
"cx": 962.54,
|
| 69 |
+
"cy": 965.7775
|
| 70 |
+
},
|
| 71 |
+
"cam_imu_factory": {
|
| 72 |
+
"yaw_deg": 0.127,
|
| 73 |
+
"pitch_deg": -0.013,
|
| 74 |
+
"roll_deg": 90.459,
|
| 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": 0.978145,
|
| 84 |
+
"k2": -2.047242,
|
| 85 |
+
"k3": 4.221112,
|
| 86 |
+
"p1": -0.000885,
|
| 87 |
+
"p2": 0.001034,
|
| 88 |
+
"fx": 890.28875,
|
| 89 |
+
"fy": 890.39875,
|
| 90 |
+
"cx": 481.27,
|
| 91 |
+
"cy": 482.88875
|
| 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": 7139.98,
|
| 103 |
+
"fy": 7138.46,
|
| 104 |
+
"cx": 11532.2,
|
| 105 |
+
"cy": 3880.38,
|
| 106 |
+
"k1": 0.96583682,
|
| 107 |
+
"k2": -2.02089548,
|
| 108 |
+
"k3": 3.96132421,
|
| 109 |
+
"p1": 0.0004576,
|
| 110 |
+
"p2": -4.547e-05
|
| 111 |
+
},
|
| 112 |
+
"params_on_native_fisheye": {
|
| 113 |
+
"xi": 2.31494,
|
| 114 |
+
"k1": 0.965837,
|
| 115 |
+
"k2": -2.020895,
|
| 116 |
+
"k3": 3.961324,
|
| 117 |
+
"p1": 0.000458,
|
| 118 |
+
"p2": -4.5e-05,
|
| 119 |
+
"fx": 1784.995,
|
| 120 |
+
"fy": 1784.615,
|
| 121 |
+
"cx": 963.05,
|
| 122 |
+
"cy": 970.095
|
| 123 |
+
},
|
| 124 |
+
"cam_imu_factory": {
|
| 125 |
+
"yaw_deg": -0.036,
|
| 126 |
+
"pitch_deg": -0.079,
|
| 127 |
+
"roll_deg": 89.418,
|
| 128 |
+
"t_m": [
|
| 129 |
+
0.00087,
|
| 130 |
+
5.8e-05,
|
| 131 |
+
-0.032965
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"cam_imu_used_by_cook": {
|
| 137 |
+
"R_cam_imu": [
|
| 138 |
+
[
|
| 139 |
+
0.00022689280081250986,
|
| 140 |
+
0.002216566277914145,
|
| 141 |
+
0.9999975176737157
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.9999678858809576,
|
| 145 |
+
-0.00801145880629961,
|
| 146 |
+
-0.0002091281040473422
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.008010975372941598,
|
| 150 |
+
0.999965451084052,
|
| 151 |
+
-0.002218312837167985
|
| 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 |
+
-0.00297445326267163,
|
| 188 |
+
-0.009171064165059414,
|
| 189 |
+
0.0024493848553018027
|
| 190 |
+
],
|
| 191 |
+
"accel_bias_m_s2": [
|
| 192 |
+
-0.06988166549143597,
|
| 193 |
+
-0.07039936214310165,
|
| 194 |
+
-0.03179497198720088
|
| 195 |
+
],
|
| 196 |
+
"gravity_vector_camera_frame": [
|
| 197 |
+
-0.12416750084879165,
|
| 198 |
+
-0.39050199713611405,
|
| 199 |
+
-0.9121900141777876
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.855825830058684,
|
| 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": 7113.44,
|
| 214 |
+
"fy": 7113.27,
|
| 215 |
+
"cx": 3855.56,
|
| 216 |
+
"cy": 3867.51,
|
| 217 |
+
"k1": 0.95333248,
|
| 218 |
+
"k2": -1.92126703,
|
| 219 |
+
"k3": 3.97410965,
|
| 220 |
+
"p1": 0.00022263,
|
| 221 |
+
"p2": -4.58e-05
|
| 222 |
+
},
|
| 223 |
+
"params_on_native_fisheye": {
|
| 224 |
+
"xi": 2.31494,
|
| 225 |
+
"k1": 0.953332,
|
| 226 |
+
"k2": -1.921267,
|
| 227 |
+
"k3": 3.97411,
|
| 228 |
+
"p1": 0.000223,
|
| 229 |
+
"p2": -4.6e-05,
|
| 230 |
+
"fx": 1778.36,
|
| 231 |
+
"fy": 1778.3175,
|
| 232 |
+
"cx": 963.89,
|
| 233 |
+
"cy": 966.8775
|
| 234 |
+
},
|
| 235 |
+
"cam_imu_factory": {
|
| 236 |
+
"yaw_deg": 0.025,
|
| 237 |
+
"pitch_deg": 0.019,
|
| 238 |
+
"roll_deg": 90.491,
|
| 239 |
+
"t_m": [
|
| 240 |
+
0.0,
|
| 241 |
+
0.0,
|
| 242 |
+
0.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"params_on_dataset_frame": {
|
| 246 |
+
"xi": 2.31494,
|
| 247 |
+
"k1": 0.953332,
|
| 248 |
+
"k2": -1.921267,
|
| 249 |
+
"k3": 3.97411,
|
| 250 |
+
"p1": 0.000223,
|
| 251 |
+
"p2": -4.6e-05,
|
| 252 |
+
"fx": 889.18,
|
| 253 |
+
"fy": 889.15875,
|
| 254 |
+
"cx": 481.945,
|
| 255 |
+
"cy": 483.43875
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"rear": {
|
| 259 |
+
"model": "ucm_mei_radtan",
|
| 260 |
+
"canvas": [
|
| 261 |
+
15360,
|
| 262 |
+
7680
|
| 263 |
+
],
|
| 264 |
+
"params_on_canvas": {
|
| 265 |
+
"xi": 2.31494,
|
| 266 |
+
"fx": 7109.51,
|
| 267 |
+
"fy": 7110.22,
|
| 268 |
+
"cx": 11504.2,
|
| 269 |
+
"cy": 3877.44,
|
| 270 |
+
"k1": 0.97504234,
|
| 271 |
+
"k2": -2.02693057,
|
| 272 |
+
"k3": 4.04262829,
|
| 273 |
+
"p1": 0.00113811,
|
| 274 |
+
"p2": -0.00057592
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.975042,
|
| 279 |
+
"k2": -2.026931,
|
| 280 |
+
"k3": 4.042628,
|
| 281 |
+
"p1": 0.001138,
|
| 282 |
+
"p2": -0.000576,
|
| 283 |
+
"fx": 1777.3775,
|
| 284 |
+
"fy": 1777.555,
|
| 285 |
+
"cx": 956.05,
|
| 286 |
+
"cy": 969.36
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": -0.121,
|
| 290 |
+
"pitch_deg": 0.227,
|
| 291 |
+
"roll_deg": 88.944,
|
| 292 |
+
"t_m": [
|
| 293 |
+
-0.000178,
|
| 294 |
+
-0.000385,
|
| 295 |
+
-0.033242
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
-0.0003316125518011891,
|
| 304 |
+
0.0004363322751622777,
|
| 305 |
+
0.9999998498236197
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.999963226507196,
|
| 309 |
+
-0.008569316236085811,
|
| 310 |
+
0.00033533947685934697
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
0.008569461268613798,
|
| 314 |
+
0.9999631875391175,
|
| 315 |
+
-0.00043347453687625704
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"t_cam_imu_m": [
|
| 319 |
+
0.004100510626148365,
|
| 320 |
+
-0.001160295357225906,
|
| 321 |
+
-0.025483155366164204
|
| 322 |
+
],
|
| 323 |
+
"source": "Tic=factory-insv-Euler (lever from REDACTED); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
+
"provenance": {
|
| 326 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
+
"kalibr_refined": false,
|
| 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_e00556/meta/episodes/chunk-000/file-000.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e01ac3f2f3dbc0f661906381f116033f5e615d8029f635db95438b12df9e4385
|
| 3 |
+
size 54409
|
official_data/umi_data/batch2/fold_clothes_e00556/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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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "umi_bimanual_gripper",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 903,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
+
"chunks_size": 1000,
|
| 8 |
+
"data_files_size_in_mb": 100,
|
| 9 |
+
"video_files_size_in_mb": 200,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
+
"train": "0:1"
|
| 13 |
+
},
|
| 14 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
+
"features": {
|
| 17 |
+
"observation.images.left_ego": {
|
| 18 |
+
"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
960,
|
| 21 |
+
960,
|
| 22 |
+
3
|
| 23 |
+
],
|
| 24 |
+
"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channels"
|
| 28 |
+
],
|
| 29 |
+
"info": {
|
| 30 |
+
"video.height": 960,
|
| 31 |
+
"video.width": 960,
|
| 32 |
+
"video.codec": "h264",
|
| 33 |
+
"video.pix_fmt": "yuv420p",
|
| 34 |
+
"video.is_depth_map": false,
|
| 35 |
+
"video.fps": 30,
|
| 36 |
+
"video.channels": 3,
|
| 37 |
+
"has_audio": false
|
| 38 |
+
}
|
| 39 |
+
},
|
| 40 |
+
"observation.images.right_ego": {
|
| 41 |
+
"dtype": "video",
|
| 42 |
+
"shape": [
|
| 43 |
+
960,
|
| 44 |
+
960,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
+
"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 960,
|
| 54 |
+
"video.width": 960,
|
| 55 |
+
"video.codec": "h264",
|
| 56 |
+
"video.pix_fmt": "yuv420p",
|
| 57 |
+
"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
+
"has_audio": false
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"observation.state": {
|
| 64 |
+
"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
16
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"left_x",
|
| 70 |
+
"left_y",
|
| 71 |
+
"left_z",
|
| 72 |
+
"left_qw",
|
| 73 |
+
"left_qx",
|
| 74 |
+
"left_qy",
|
| 75 |
+
"left_qz",
|
| 76 |
+
"left_gripper",
|
| 77 |
+
"right_x",
|
| 78 |
+
"right_y",
|
| 79 |
+
"right_z",
|
| 80 |
+
"right_qw",
|
| 81 |
+
"right_qx",
|
| 82 |
+
"right_qy",
|
| 83 |
+
"right_qz",
|
| 84 |
+
"right_gripper"
|
| 85 |
+
]
|
| 86 |
+
},
|
| 87 |
+
"action": {
|
| 88 |
+
"dtype": "float32",
|
| 89 |
+
"shape": [
|
| 90 |
+
16
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"left_x",
|
| 94 |
+
"left_y",
|
| 95 |
+
"left_z",
|
| 96 |
+
"left_qw",
|
| 97 |
+
"left_qx",
|
| 98 |
+
"left_qy",
|
| 99 |
+
"left_qz",
|
| 100 |
+
"left_gripper",
|
| 101 |
+
"right_x",
|
| 102 |
+
"right_y",
|
| 103 |
+
"right_z",
|
| 104 |
+
"right_qw",
|
| 105 |
+
"right_qx",
|
| 106 |
+
"right_qy",
|
| 107 |
+
"right_qz",
|
| 108 |
+
"right_gripper"
|
| 109 |
+
]
|
| 110 |
+
},
|
| 111 |
+
"timestamp": {
|
| 112 |
+
"dtype": "float32",
|
| 113 |
+
"shape": [
|
| 114 |
+
1
|
| 115 |
+
],
|
| 116 |
+
"names": null
|
| 117 |
+
},
|
| 118 |
+
"frame_index": {
|
| 119 |
+
"dtype": "int64",
|
| 120 |
+
"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
+
"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
+
],
|
| 130 |
+
"names": null
|
| 131 |
+
},
|
| 132 |
+
"index": {
|
| 133 |
+
"dtype": "int64",
|
| 134 |
+
"shape": [
|
| 135 |
+
1
|
| 136 |
+
],
|
| 137 |
+
"names": null
|
| 138 |
+
},
|
| 139 |
+
"task_index": {
|
| 140 |
+
"dtype": "int64",
|
| 141 |
+
"shape": [
|
| 142 |
+
1
|
| 143 |
+
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|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00556/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
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|
| 1 |
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{
|
| 2 |
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"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
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| 4 |
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| 5 |
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| 7 |
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| 9 |
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| 14 |
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| 21 |
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| 39 |
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| 40 |
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| 41 |
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| 166 |
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|
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| 298 |
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| 299 |
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| 300 |
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| 324 |
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| 325 |
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| 326 |
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| 328 |
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|
| 329 |
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"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 |
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}
|
| 331 |
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}
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}
|
| 333 |
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}
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official_data/umi_data/batch2/fold_clothes_e01877/meta/episodes/chunk-000/file-000.parquet
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version https://git-lfs.github.com/spec/v1
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size 54432
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official_data/umi_data/batch2/fold_clothes_e01877/meta/info.json
ADDED
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@@ -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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|
| 1 |
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{
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| 20 |
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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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|
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| 33 |
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|
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|
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|
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|
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|
| 42 |
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| 43 |
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|
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| 46 |
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| 47 |
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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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|
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| 55 |
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| 56 |
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|
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|
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|
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
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|
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|
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
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|
| 89 |
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|
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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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"right_z",
|
| 104 |
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"right_qw",
|
| 105 |
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"right_qx",
|
| 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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| 112 |
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|
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|
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|
| 117 |
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|
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|
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
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|
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|
| 134 |
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|
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|
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|
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|
| 146 |
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|
| 147 |
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}
|
official_data/umi_data/batch2/fold_clothes_e01877/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
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|
| 14 |
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|
official_data/umi_data/batch2/fold_clothes_e02091/meta/calibration.json
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|
| 1 |
+
{
|
| 2 |
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"note": "Per-body camera + IMU calibration. Intrinsics come from each body's own .insv factory telemetry; see provenance per side.",
|
| 3 |
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"sides": {
|
| 4 |
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"left": {
|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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960
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|
| 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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|
| 22 |
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|
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| 27 |
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|
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official_data/umi_data/batch2/fold_clothes_e02091/meta/episodes/chunk-000/file-000.parquet
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official_data/umi_data/batch2/fold_clothes_e02091/meta/info.json
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|
official_data/umi_data/batch2/fold_clothes_e02091/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
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