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- .gitattributes +130 -0
- official_data/umi_data/batch2/fold_clothes_e00010/annotation/grounding_000000.jsonl +6 -0
- official_data/umi_data/batch2/fold_clothes_e00010/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00010/export_meta.json +42 -0
- official_data/umi_data/batch2/fold_clothes_e00010/imu/episode_0000_left.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00010/imu/episode_0000_right.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00010/meta/annotation.json +18 -0
- official_data/umi_data/batch2/fold_clothes_e00010/meta/calibration.json +333 -0
- official_data/umi_data/batch2/fold_clothes_e00010/meta/info.json +147 -0
- official_data/umi_data/batch2/fold_clothes_e00010/meta/stats.json +812 -0
- official_data/umi_data/batch2/fold_clothes_e00028/annotation/grounding_000000.jsonl +6 -0
- official_data/umi_data/batch2/fold_clothes_e00028/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00028/export_meta.json +42 -0
- official_data/umi_data/batch2/fold_clothes_e00028/imu/episode_0000_left.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00028/imu/episode_0000_right.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00028/meta/annotation.json +17 -0
- official_data/umi_data/batch2/fold_clothes_e00028/meta/calibration.json +333 -0
- official_data/umi_data/batch2/fold_clothes_e00028/meta/info.json +147 -0
- official_data/umi_data/batch2/fold_clothes_e00028/meta/stats.json +812 -0
- official_data/umi_data/batch2/fold_clothes_e00032/data/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00032/meta/episodes/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00032/meta/tasks.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00032/videos/observation.audio.left_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00032/videos/observation.audio.right_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00032/videos/observation.images.left_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00032/videos/observation.images.right_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00081/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00081/export_meta.json +42 -0
- official_data/umi_data/batch2/fold_clothes_e00081/imu/episode_0000_left.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00081/imu/episode_0000_right.csv +0 -0
- official_data/umi_data/batch2/fold_clothes_e00081/meta/annotation.json +14 -0
- official_data/umi_data/batch2/fold_clothes_e00081/meta/calibration.json +333 -0
- official_data/umi_data/batch2/fold_clothes_e00081/meta/info.json +147 -0
- official_data/umi_data/batch2/fold_clothes_e00081/meta/stats.json +812 -0
- official_data/umi_data/batch2/fold_clothes_e00106/data/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00106/meta/episodes/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00106/meta/tasks.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00106/videos/observation.audio.left_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00106/videos/observation.audio.right_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00106/videos/observation.images.left_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00106/videos/observation.images.right_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00121/data/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00121/meta/episodes/chunk-000/file-000.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00121/meta/tasks.parquet +3 -0
- official_data/umi_data/batch2/fold_clothes_e00121/videos/observation.audio.left_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00121/videos/observation.audio.right_ego/episode_0000.m4a +3 -0
- official_data/umi_data/batch2/fold_clothes_e00121/videos/observation.images.left_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00121/videos/observation.images.right_ego/chunk-000/file-000.mp4 +3 -0
- official_data/umi_data/batch2/fold_clothes_e00166/annotation/subtasks_000000.jsonl +1 -0
- official_data/umi_data/batch2/fold_clothes_e00166/export_meta.json +42 -0
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official_data/umi_data/batch2/fold_clothes_e06379/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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| 929 |
+
official_data/umi_data/batch2/fold_clothes_e02272/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 930 |
+
official_data/umi_data/batch2/fold_clothes_e02272/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 931 |
+
official_data/umi_data/batch2/fold_clothes_e00422/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 932 |
+
official_data/umi_data/batch2/fold_clothes_e00422/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 933 |
+
official_data/umi_data/batch2/fold_clothes_e01797/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 934 |
+
official_data/umi_data/batch2/fold_clothes_e01797/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 935 |
+
official_data/umi_data/batch2/fold_clothes_e04477/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 936 |
+
official_data/umi_data/batch2/fold_clothes_e04477/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 937 |
+
official_data/umi_data/batch2/fold_clothes_e01743/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 938 |
+
official_data/umi_data/batch2/fold_clothes_e01743/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 939 |
+
official_data/umi_data/batch2/fold_clothes_e03769/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 940 |
+
official_data/umi_data/batch2/fold_clothes_e03769/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 941 |
+
official_data/umi_data/batch2/fold_clothes_e09025/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 942 |
+
official_data/umi_data/batch2/fold_clothes_e09025/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 943 |
+
official_data/umi_data/batch2/fold_clothes_e03721/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 944 |
+
official_data/umi_data/batch2/fold_clothes_e03721/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 945 |
+
official_data/umi_data/batch2/fold_clothes_e06980/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 946 |
+
official_data/umi_data/batch2/fold_clothes_e06980/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 947 |
+
official_data/umi_data/batch2/fold_clothes_e08715/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 948 |
+
official_data/umi_data/batch2/fold_clothes_e08715/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 949 |
+
official_data/umi_data/batch2/fold_clothes_e06061/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 950 |
+
official_data/umi_data/batch2/fold_clothes_e06061/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 951 |
+
official_data/umi_data/batch2/fold_clothes_e02843/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 952 |
+
official_data/umi_data/batch2/fold_clothes_e02843/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 953 |
+
official_data/umi_data/batch2/fold_clothes_e07155/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 954 |
+
official_data/umi_data/batch2/fold_clothes_e07155/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 955 |
+
official_data/umi_data/batch2/fold_clothes_e02968/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 956 |
+
official_data/umi_data/batch2/fold_clothes_e02968/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 957 |
+
official_data/umi_data/batch2/fold_clothes_e09006/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 958 |
+
official_data/umi_data/batch2/fold_clothes_e09006/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 959 |
+
official_data/umi_data/batch2/fold_clothes_e05333/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 960 |
+
official_data/umi_data/batch2/fold_clothes_e05333/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 961 |
+
official_data/umi_data/batch2/fold_clothes_e04628/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 962 |
+
official_data/umi_data/batch2/fold_clothes_e04628/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 963 |
+
official_data/umi_data/batch2/fold_clothes_e07522/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 964 |
+
official_data/umi_data/batch2/fold_clothes_e07522/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 965 |
+
official_data/umi_data/batch2/fold_clothes_e03978/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 966 |
+
official_data/umi_data/batch2/fold_clothes_e03978/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 967 |
+
official_data/umi_data/batch2/fold_clothes_e05559/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 968 |
+
official_data/umi_data/batch2/fold_clothes_e05559/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 969 |
+
official_data/umi_data/batch2/fold_clothes_e07086/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 970 |
+
official_data/umi_data/batch2/fold_clothes_e07086/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 971 |
+
official_data/umi_data/batch2/fold_clothes_e04130/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 972 |
+
official_data/umi_data/batch2/fold_clothes_e04130/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 973 |
+
official_data/umi_data/batch2/fold_clothes_e08939/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 974 |
+
official_data/umi_data/batch2/fold_clothes_e08939/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 975 |
+
official_data/umi_data/batch2/fold_clothes_e00216/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 976 |
+
official_data/umi_data/batch2/fold_clothes_e00216/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 977 |
+
official_data/umi_data/batch2/fold_clothes_e00337/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 978 |
+
official_data/umi_data/batch2/fold_clothes_e00337/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 979 |
+
official_data/umi_data/batch2/fold_clothes_e00121/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 980 |
+
official_data/umi_data/batch2/fold_clothes_e00121/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 981 |
+
official_data/umi_data/batch2/fold_clothes_e07708/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 982 |
+
official_data/umi_data/batch2/fold_clothes_e07708/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 983 |
+
official_data/umi_data/batch2/fold_clothes_e01443/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 984 |
+
official_data/umi_data/batch2/fold_clothes_e01443/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 985 |
+
official_data/umi_data/batch2/fold_clothes_e03774/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 986 |
+
official_data/umi_data/batch2/fold_clothes_e03774/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 987 |
+
official_data/umi_data/batch2/fold_clothes_e02531/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 988 |
+
official_data/umi_data/batch2/fold_clothes_e02531/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 989 |
+
official_data/umi_data/batch2/fold_clothes_e04004/videos/observation.audio.left_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
|
| 990 |
+
official_data/umi_data/batch2/fold_clothes_e04004/videos/observation.audio.right_ego/episode_0000.m4a filter=lfs diff=lfs merge=lfs -text
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official_data/umi_data/batch2/fold_clothes_e00010/annotation/grounding_000000.jsonl
ADDED
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+
{"frame_index": 0, "t_s": 0.0, "side": "left", "task": "fold the orange long-sleeve", "step": "fold the orange long-sleeve", "next_step": "", "next_action": "move the gripper away from the orange long-sleeve to finish the task", "boxes": [{"label": "橙色长袖", "box_2d": [388, 132, 541, 310]}, {"label": "gripper", "box_2d": [504, 225, 985, 771]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [850, 500], "note": "move away from the workspace"}], "segment": 10, "anchor": "release"}
|
| 2 |
+
{"frame_index": 0, "t_s": 0.0, "side": "right", "task": "fold the orange long-sleeve", "step": "fold the orange long-sleeve", "next_step": "", "next_action": "retract the gripper away from the folded orange long-sleeve", "boxes": [{"label": "橙色长袖", "box_2d": [451, 258, 569, 419]}, {"label": "gripper", "box_2d": [502, 231, 988, 780]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [650, 500], "note": "retract the gripper"}], "segment": 10, "anchor": "release"}
|
| 3 |
+
{"frame_index": 758, "t_s": 25.27, "side": "left", "task": "fold the orange long-sleeve", "step": "fold the orange long-sleeve", "next_step": "", "next_action": "retract the gripper to finish folding the orange long-sleeve", "boxes": [{"label": "橙色长袖", "box_2d": [150, 206, 731, 811]}, {"label": "gripper", "box_2d": [501, 225, 991, 771]}], "points": [{"label": "gripper", "point": [845, 498], "arrow_to": [950, 498], "note": "retract the gripper"}], "segment": 10, "anchor": "release"}
|
| 4 |
+
{"frame_index": 758, "t_s": 25.27, "side": "right", "task": "fold the orange long-sleeve", "step": "fold the orange long-sleeve", "next_step": "", "next_action": "retract the gripper from the folded orange long-sleeve", "boxes": [{"label": "橙色长袖", "box_2d": [152, 15, 810, 572]}, {"label": "gripper", "box_2d": [502, 231, 988, 775]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [900, 500], "note": "retract gripper"}], "segment": 10, "anchor": "release"}
|
| 5 |
+
{"frame_index": 1544, "t_s": 51.47, "side": "left", "task": "fold the orange long-sleeve", "step": "fold the orange long-sleeve", "next_step": "", "next_action": "release the orange long-sleeve", "boxes": [{"label": "橙色长袖", "box_2d": [315, 141, 708, 675]}, {"label": "gripper", "box_2d": [688, 226, 982, 774]}], "points": [{"label": "release point on the orange long-sleeve", "point": [500, 450], "arrow_to": null, "note": "The task is likely complete; the gripper should release the folded item."}], "segment": 10, "anchor": "grasp"}
|
| 6 |
+
{"frame_index": 1544, "t_s": 51.47, "side": "right", "task": "fold the orange long-sleeve", "step": "fold the orange long-sleeve", "next_step": "", "next_action": "release the orange long-sleeve onto the floor", "boxes": [{"label": "gripper", "box_2d": [498, 230, 985, 775]}, {"label": "橙色长袖", "box_2d": [458, 496, 678, 803]}], "points": [{"label": "release point on the orange long-sleeve", "point": [568, 650], "arrow_to": [750, 750], "note": "place the folded sleeve down"}], "segment": 10, "anchor": "grasp"}
|
official_data/umi_data/batch2/fold_clothes_e00010/annotation/subtasks_000000.jsonl
ADDED
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{"start_frame_index": 0, "end_frame_index": 1638, "instruction": "fold the orange long-sleeve", "instruction_zh": "fold the orange long-sleeve", "target_objects": ["橙色长袖"], "success": null}
|
official_data/umi_data/batch2/fold_clothes_e00010/export_meta.json
ADDED
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{
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+
"state_names": [
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+
"left_x",
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+
"left_y",
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| 5 |
+
"left_z",
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| 6 |
+
"left_qw",
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| 7 |
+
"left_qx",
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| 8 |
+
"left_qy",
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| 9 |
+
"left_qz",
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+
"left_gripper",
|
| 11 |
+
"right_x",
|
| 12 |
+
"right_y",
|
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+
"right_z",
|
| 14 |
+
"right_qw",
|
| 15 |
+
"right_qx",
|
| 16 |
+
"right_qy",
|
| 17 |
+
"right_qz",
|
| 18 |
+
"right_gripper"
|
| 19 |
+
],
|
| 20 |
+
"fps": 30.0,
|
| 21 |
+
"action_names": [
|
| 22 |
+
"left_x",
|
| 23 |
+
"left_y",
|
| 24 |
+
"left_z",
|
| 25 |
+
"left_qw",
|
| 26 |
+
"left_qx",
|
| 27 |
+
"left_qy",
|
| 28 |
+
"left_qz",
|
| 29 |
+
"left_gripper",
|
| 30 |
+
"right_x",
|
| 31 |
+
"right_y",
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| 32 |
+
"right_z",
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| 33 |
+
"right_qw",
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| 34 |
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"right_qx",
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| 35 |
+
"right_qy",
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| 36 |
+
"right_qz",
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| 37 |
+
"right_gripper"
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| 38 |
+
],
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| 39 |
+
"n_episodes": 1,
|
| 40 |
+
"img_size": 960,
|
| 41 |
+
"episodes": []
|
| 42 |
+
}
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official_data/umi_data/batch2/fold_clothes_e00010/imu/episode_0000_left.csv
ADDED
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official_data/umi_data/batch2/fold_clothes_e00010/imu/episode_0000_right.csv
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official_data/umi_data/batch2/fold_clothes_e00010/meta/annotation.json
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{
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"schema_version": 2,
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"layers": {
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| 4 |
+
"subtasks": {
|
| 5 |
+
"source": "human",
|
| 6 |
+
"review": "approved",
|
| 7 |
+
"segments_version": "c174a87aa6e831ed"
|
| 8 |
+
},
|
| 9 |
+
"grounding": {
|
| 10 |
+
"source": "gemini-robotics-er-1.6-preview",
|
| 11 |
+
"backfilled_at": "2026-08-30T19:01:01+0800"
|
| 12 |
+
}
|
| 13 |
+
},
|
| 14 |
+
"dropped_layers": [
|
| 15 |
+
"action_steps"
|
| 16 |
+
],
|
| 17 |
+
"created_at": "2026-08-30T18:57:33+0800"
|
| 18 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00010/meta/calibration.json
ADDED
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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 |
+
-0.017064087953647143,
|
| 34 |
+
-0.6765060843299928,
|
| 35 |
+
-0.7362393189492193
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.807648757459717,
|
| 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 |
+
-0.00013467957327572498,
|
| 198 |
+
-0.7022974754324035,
|
| 199 |
+
-0.7118835844874394
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.790518342771486,
|
| 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 |
+
"k2": -1.857019,
|
| 227 |
+
"k3": 3.535162,
|
| 228 |
+
"p1": -0.000769,
|
| 229 |
+
"p2": -0.001046,
|
| 230 |
+
"fx": 1786.075,
|
| 231 |
+
"fy": 1785.09,
|
| 232 |
+
"cx": 957.0475,
|
| 233 |
+
"cy": 965.1075
|
| 234 |
+
},
|
| 235 |
+
"cam_imu_factory": {
|
| 236 |
+
"yaw_deg": 0.222,
|
| 237 |
+
"pitch_deg": 0.1,
|
| 238 |
+
"roll_deg": 89.795,
|
| 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": 0.956418,
|
| 248 |
+
"k2": -1.857019,
|
| 249 |
+
"k3": 3.535162,
|
| 250 |
+
"p1": -0.000769,
|
| 251 |
+
"p2": -0.001046,
|
| 252 |
+
"fx": 893.0375,
|
| 253 |
+
"fy": 892.545,
|
| 254 |
+
"cx": 478.52375,
|
| 255 |
+
"cy": 482.55375
|
| 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": 7131.67,
|
| 267 |
+
"fy": 7130.66,
|
| 268 |
+
"cx": 11542.4,
|
| 269 |
+
"cy": 3876.96,
|
| 270 |
+
"k1": 0.97506797,
|
| 271 |
+
"k2": -2.16964269,
|
| 272 |
+
"k3": 4.22772408,
|
| 273 |
+
"p1": -0.00106036,
|
| 274 |
+
"p2": -0.00272907
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.975068,
|
| 279 |
+
"k2": -2.169643,
|
| 280 |
+
"k3": 4.227724,
|
| 281 |
+
"p1": -0.00106,
|
| 282 |
+
"p2": -0.002729,
|
| 283 |
+
"fx": 1782.9175,
|
| 284 |
+
"fy": 1782.665,
|
| 285 |
+
"cx": 965.6,
|
| 286 |
+
"cy": 969.24
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": -0.064,
|
| 290 |
+
"pitch_deg": 0.149,
|
| 291 |
+
"roll_deg": 89.457,
|
| 292 |
+
"t_m": [
|
| 293 |
+
0.001875,
|
| 294 |
+
-5.7e-05,
|
| 295 |
+
-0.032888
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
-0.003698620751528131,
|
| 304 |
+
0.00442383717822975,
|
| 305 |
+
0.9999833747963798
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.9999877040146874,
|
| 309 |
+
0.003319687668612209,
|
| 310 |
+
0.0036839507620446965
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.0033033352797848248,
|
| 314 |
+
0.9999847045522263,
|
| 315 |
+
-0.004436061048492451
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"t_cam_imu_m": [
|
| 319 |
+
0.004100510626148365,
|
| 320 |
+
-0.001160295357225906,
|
| 321 |
+
-0.025483155366164204
|
| 322 |
+
],
|
| 323 |
+
"source": "Tic=Kalibr(REDACTED, factory-resid 0.12deg); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
+
"provenance": {
|
| 326 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
+
"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_e00010/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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "umi_bimanual_gripper",
|
| 4 |
+
"total_episodes": 1,
|
| 5 |
+
"total_frames": 1638,
|
| 6 |
+
"total_tasks": 1,
|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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"data_files_size_in_mb": 100,
|
| 9 |
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"video_files_size_in_mb": 200,
|
| 10 |
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"fps": 30,
|
| 11 |
+
"splits": {
|
| 12 |
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"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 |
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"dtype": "video",
|
| 19 |
+
"shape": [
|
| 20 |
+
960,
|
| 21 |
+
960,
|
| 22 |
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3
|
| 23 |
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],
|
| 24 |
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"names": [
|
| 25 |
+
"height",
|
| 26 |
+
"width",
|
| 27 |
+
"channels"
|
| 28 |
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],
|
| 29 |
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"info": {
|
| 30 |
+
"video.height": 960,
|
| 31 |
+
"video.width": 960,
|
| 32 |
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"video.codec": "h264",
|
| 33 |
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"video.pix_fmt": "yuv420p",
|
| 34 |
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"video.is_depth_map": false,
|
| 35 |
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"video.fps": 30,
|
| 36 |
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"video.channels": 3,
|
| 37 |
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"has_audio": false
|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
+
"observation.images.right_ego": {
|
| 41 |
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"dtype": "video",
|
| 42 |
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"shape": [
|
| 43 |
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960,
|
| 44 |
+
960,
|
| 45 |
+
3
|
| 46 |
+
],
|
| 47 |
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"names": [
|
| 48 |
+
"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
+
"video.height": 960,
|
| 54 |
+
"video.width": 960,
|
| 55 |
+
"video.codec": "h264",
|
| 56 |
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"video.pix_fmt": "yuv420p",
|
| 57 |
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"video.is_depth_map": false,
|
| 58 |
+
"video.fps": 30,
|
| 59 |
+
"video.channels": 3,
|
| 60 |
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"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 |
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"shape": [
|
| 90 |
+
16
|
| 91 |
+
],
|
| 92 |
+
"names": [
|
| 93 |
+
"left_x",
|
| 94 |
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"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 |
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"shape": [
|
| 114 |
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1
|
| 115 |
+
],
|
| 116 |
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"names": null
|
| 117 |
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},
|
| 118 |
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"frame_index": {
|
| 119 |
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"dtype": "int64",
|
| 120 |
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"shape": [
|
| 121 |
+
1
|
| 122 |
+
],
|
| 123 |
+
"names": null
|
| 124 |
+
},
|
| 125 |
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"episode_index": {
|
| 126 |
+
"dtype": "int64",
|
| 127 |
+
"shape": [
|
| 128 |
+
1
|
| 129 |
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],
|
| 130 |
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"names": null
|
| 131 |
+
},
|
| 132 |
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"index": {
|
| 133 |
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"dtype": "int64",
|
| 134 |
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"shape": [
|
| 135 |
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1
|
| 136 |
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],
|
| 137 |
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"names": null
|
| 138 |
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},
|
| 139 |
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"task_index": {
|
| 140 |
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"dtype": "int64",
|
| 141 |
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"shape": [
|
| 142 |
+
1
|
| 143 |
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],
|
| 144 |
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"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00010/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_e00028/annotation/grounding_000000.jsonl
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"frame_index": 0, "t_s": 0.0, "side": "left", "task": "fold the beige short sleeve", "step": "fold the beige short sleeve", "next_step": "", "next_action": "move the gripper away from the beige short sleeve to finish the task", "boxes": [{"label": "杏色短袖", "box_2d": [192, 292, 466, 651]}, {"label": "gripper", "box_2d": [500, 210, 980, 770]}], "points": [{"label": "gripper", "point": [750, 500], "arrow_to": [900, 500], "note": "move the gripper back to clear the workspace"}], "segment": 13, "anchor": "release"}
|
| 2 |
+
{"frame_index": 0, "t_s": 0.0, "side": "right", "task": "fold the beige short sleeve", "step": "fold the beige short sleeve", "next_step": "", "next_action": "move the gripper away from the beige short sleeve to finish the task", "boxes": [{"label": "杏色短袖", "box_2d": [229, 351, 502, 662]}, {"label": "gripper", "box_2d": [500, 229, 985, 776]}], "points": [{"label": "gripper", "point": [743, 502], "arrow_to": [850, 502], "note": "move the gripper away from the beige short sleeve"}], "segment": 13, "anchor": "release"}
|
| 3 |
+
{"frame_index": 896, "t_s": 29.87, "side": "left", "task": "fold the beige short sleeve", "step": "fold the beige short sleeve", "next_step": "", "next_action": "release the beige short sleeve and move back", "boxes": [{"label": "gripper", "box_2d": [505, 235, 988, 772]}, {"label": "杏色短袖", "box_2d": [365, 444, 702, 635]}], "points": [{"label": "gripper", "point": [790, 500], "arrow_to": [900, 500], "note": "move the gripper away from the folded shirt"}], "segment": 13, "anchor": "grasp"}
|
| 4 |
+
{"frame_index": 896, "t_s": 29.87, "side": "right", "task": "fold the beige short sleeve", "step": "fold the beige short sleeve", "next_step": "", "next_action": "retract the gripper to finish the task", "boxes": [{"label": "gripper", "box_2d": [502, 230, 975, 685]}, {"label": "杏色短袖", "box_2d": [315, 395, 655, 592]}], "points": [{"label": "gripper", "point": [740, 480], "arrow_to": [850, 480], "note": "retract the gripper"}], "segment": 13, "anchor": "grasp"}
|
| 5 |
+
{"frame_index": 1946, "t_s": 64.87, "side": "left", "task": "fold the beige short sleeve", "step": "fold the beige short sleeve", "next_step": "", "next_action": "release the beige short sleeve to complete the fold", "boxes": [{"label": "杏色短袖", "box_2d": [329, 321, 591, 528]}, {"label": "gripper", "box_2d": [511, 241, 985, 771]}], "points": [{"label": "release point", "point": [610, 498], "arrow_to": null, "note": "release the beige short sleeve"}], "segment": 13, "anchor": "grasp"}
|
| 6 |
+
{"frame_index": 1946, "t_s": 64.87, "side": "right", "task": "fold the beige short sleeve", "step": "fold the beige short sleeve", "next_step": "", "next_action": "release the beige short sleeve onto the bed", "boxes": [{"label": "gripper", "box_2d": [504, 230, 991, 775]}, {"label": "杏色短袖", "box_2d": [200, 505, 555, 845]}], "points": [{"label": "release point on the beige short sleeve", "point": [480, 545], "arrow_to": [550, 750], "note": "release the beige short sleeve onto the bed to finish folding"}], "segment": 13, "anchor": "grasp"}
|
official_data/umi_data/batch2/fold_clothes_e00028/annotation/subtasks_000000.jsonl
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"start_frame_index": 0, "end_frame_index": 2014, "instruction": "fold the beige short sleeve", "instruction_zh": "fold the beige short sleeve", "target_objects": ["杏色短袖"], "success": null}
|
official_data/umi_data/batch2/fold_clothes_e00028/export_meta.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
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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 |
+
"n_episodes": 1,
|
| 3 |
+
"img_size": 960,
|
| 4 |
+
"state_names": [
|
| 5 |
+
"left_x",
|
| 6 |
+
"left_y",
|
| 7 |
+
"left_z",
|
| 8 |
+
"left_qw",
|
| 9 |
+
"left_qx",
|
| 10 |
+
"left_qy",
|
| 11 |
+
"left_qz",
|
| 12 |
+
"left_gripper",
|
| 13 |
+
"right_x",
|
| 14 |
+
"right_y",
|
| 15 |
+
"right_z",
|
| 16 |
+
"right_qw",
|
| 17 |
+
"right_qx",
|
| 18 |
+
"right_qy",
|
| 19 |
+
"right_qz",
|
| 20 |
+
"right_gripper"
|
| 21 |
+
],
|
| 22 |
+
"action_names": [
|
| 23 |
+
"left_x",
|
| 24 |
+
"left_y",
|
| 25 |
+
"left_z",
|
| 26 |
+
"left_qw",
|
| 27 |
+
"left_qx",
|
| 28 |
+
"left_qy",
|
| 29 |
+
"left_qz",
|
| 30 |
+
"left_gripper",
|
| 31 |
+
"right_x",
|
| 32 |
+
"right_y",
|
| 33 |
+
"right_z",
|
| 34 |
+
"right_qw",
|
| 35 |
+
"right_qx",
|
| 36 |
+
"right_qy",
|
| 37 |
+
"right_qz",
|
| 38 |
+
"right_gripper"
|
| 39 |
+
],
|
| 40 |
+
"fps": 30.0,
|
| 41 |
+
"episodes": []
|
| 42 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00028/imu/episode_0000_left.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00028/imu/episode_0000_right.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
official_data/umi_data/batch2/fold_clothes_e00028/meta/annotation.json
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"schema_version": 2,
|
| 3 |
+
"layers": {
|
| 4 |
+
"subtasks": {
|
| 5 |
+
"source": "human",
|
| 6 |
+
"review": "approved",
|
| 7 |
+
"segments_version": "0eb9a3633dc486d4"
|
| 8 |
+
},
|
| 9 |
+
"grounding": {
|
| 10 |
+
"source": "gemini-robotics-er-1.6-preview"
|
| 11 |
+
}
|
| 12 |
+
},
|
| 13 |
+
"dropped_layers": [
|
| 14 |
+
"action_steps"
|
| 15 |
+
],
|
| 16 |
+
"created_at": "2026-08-30T17:36:34+0800"
|
| 17 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00028/meta/calibration.json
ADDED
|
@@ -0,0 +1,333 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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 |
+
"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 |
+
-0.05505991785489889,
|
| 34 |
+
-0.7762663418727136,
|
| 35 |
+
-0.6279959967399207
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.809083923502884,
|
| 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 |
+
0.01704600207760744,
|
| 198 |
+
-0.7360006773035934,
|
| 199 |
+
-0.6767661611087114
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.79468660466891,
|
| 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 |
+
"k2": -1.857019,
|
| 227 |
+
"k3": 3.535162,
|
| 228 |
+
"p1": -0.000769,
|
| 229 |
+
"p2": -0.001046,
|
| 230 |
+
"fx": 1786.075,
|
| 231 |
+
"fy": 1785.09,
|
| 232 |
+
"cx": 957.0475,
|
| 233 |
+
"cy": 965.1075
|
| 234 |
+
},
|
| 235 |
+
"cam_imu_factory": {
|
| 236 |
+
"yaw_deg": 0.222,
|
| 237 |
+
"pitch_deg": 0.1,
|
| 238 |
+
"roll_deg": 89.795,
|
| 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": 0.956418,
|
| 248 |
+
"k2": -1.857019,
|
| 249 |
+
"k3": 3.535162,
|
| 250 |
+
"p1": -0.000769,
|
| 251 |
+
"p2": -0.001046,
|
| 252 |
+
"fx": 893.0375,
|
| 253 |
+
"fy": 892.545,
|
| 254 |
+
"cx": 478.52375,
|
| 255 |
+
"cy": 482.55375
|
| 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": 7131.67,
|
| 267 |
+
"fy": 7130.66,
|
| 268 |
+
"cx": 11542.4,
|
| 269 |
+
"cy": 3876.96,
|
| 270 |
+
"k1": 0.97506797,
|
| 271 |
+
"k2": -2.16964269,
|
| 272 |
+
"k3": 4.22772408,
|
| 273 |
+
"p1": -0.00106036,
|
| 274 |
+
"p2": -0.00272907
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.975068,
|
| 279 |
+
"k2": -2.169643,
|
| 280 |
+
"k3": 4.227724,
|
| 281 |
+
"p1": -0.00106,
|
| 282 |
+
"p2": -0.002729,
|
| 283 |
+
"fx": 1782.9175,
|
| 284 |
+
"fy": 1782.665,
|
| 285 |
+
"cx": 965.6,
|
| 286 |
+
"cy": 969.24
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": -0.064,
|
| 290 |
+
"pitch_deg": 0.149,
|
| 291 |
+
"roll_deg": 89.457,
|
| 292 |
+
"t_m": [
|
| 293 |
+
0.001875,
|
| 294 |
+
-5.7e-05,
|
| 295 |
+
-0.032888
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
-0.003698620751528131,
|
| 304 |
+
0.00442383717822975,
|
| 305 |
+
0.9999833747963798
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.9999877040146874,
|
| 309 |
+
0.003319687668612209,
|
| 310 |
+
0.0036839507620446965
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.0033033352797848248,
|
| 314 |
+
0.9999847045522263,
|
| 315 |
+
-0.004436061048492451
|
| 316 |
+
]
|
| 317 |
+
],
|
| 318 |
+
"t_cam_imu_m": [
|
| 319 |
+
0.004100510626148365,
|
| 320 |
+
-0.001160295357225906,
|
| 321 |
+
-0.025483155366164204
|
| 322 |
+
],
|
| 323 |
+
"source": "Tic=Kalibr(REDACTED, factory-resid 0.12deg); gravity=static; bias=factory"
|
| 324 |
+
},
|
| 325 |
+
"provenance": {
|
| 326 |
+
"camera_intrinsics": "insv_factory (per-body, from this body's own telemetry)",
|
| 327 |
+
"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_e00028/meta/info.json
ADDED
|
@@ -0,0 +1,147 @@
|
|
|
|
|
|
|
|
|
|
|
|
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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": 2014,
|
| 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 |
+
],
|
| 144 |
+
"names": null
|
| 145 |
+
}
|
| 146 |
+
}
|
| 147 |
+
}
|
official_data/umi_data/batch2/fold_clothes_e00028/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
|
|
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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 |
+
"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 |
+
0.0005852230385086188,
|
| 24 |
+
-0.014437321261745434,
|
| 25 |
+
0.0021304732363218227
|
| 26 |
+
],
|
| 27 |
+
"accel_bias_m_s2": [
|
| 28 |
+
-0.06708939538945007,
|
| 29 |
+
0.002720208900512903,
|
| 30 |
+
0.05842290836520983
|
| 31 |
+
],
|
| 32 |
+
"gravity_vector_camera_frame": [
|
| 33 |
+
0.07191440813145439,
|
| 34 |
+
-0.3228703489477149,
|
| 35 |
+
-0.943707081500125
|
| 36 |
+
],
|
| 37 |
+
"gravity_magnitude_m_s2": 9.84424015071443,
|
| 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": 7093.04,
|
| 50 |
+
"fy": 7091.99,
|
| 51 |
+
"cx": 3839.69,
|
| 52 |
+
"cy": 3857.92,
|
| 53 |
+
"k1": 0.96855682,
|
| 54 |
+
"k2": -2.09735131,
|
| 55 |
+
"k3": 4.46704149,
|
| 56 |
+
"p1": -0.00090097,
|
| 57 |
+
"p2": 0.00104274
|
| 58 |
+
},
|
| 59 |
+
"params_on_native_fisheye": {
|
| 60 |
+
"xi": 2.31494,
|
| 61 |
+
"k1": 0.968557,
|
| 62 |
+
"k2": -2.097351,
|
| 63 |
+
"k3": 4.467041,
|
| 64 |
+
"p1": -0.000901,
|
| 65 |
+
"p2": 0.001043,
|
| 66 |
+
"fx": 1773.26,
|
| 67 |
+
"fy": 1772.9975,
|
| 68 |
+
"cx": 959.9225,
|
| 69 |
+
"cy": 964.48
|
| 70 |
+
},
|
| 71 |
+
"cam_imu_factory": {
|
| 72 |
+
"yaw_deg": 0.362,
|
| 73 |
+
"pitch_deg": -0.072,
|
| 74 |
+
"roll_deg": 90.245,
|
| 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": 0.968557,
|
| 84 |
+
"k2": -2.097351,
|
| 85 |
+
"k3": 4.467041,
|
| 86 |
+
"p1": -0.000901,
|
| 87 |
+
"p2": 0.001043,
|
| 88 |
+
"fx": 886.63,
|
| 89 |
+
"fy": 886.49875,
|
| 90 |
+
"cx": 479.96125,
|
| 91 |
+
"cy": 482.24
|
| 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": 7120.31,
|
| 103 |
+
"fy": 7120.12,
|
| 104 |
+
"cx": 11536.3,
|
| 105 |
+
"cy": 3833.5,
|
| 106 |
+
"k1": 0.9454937,
|
| 107 |
+
"k2": -1.77051091,
|
| 108 |
+
"k3": 3.22309566,
|
| 109 |
+
"p1": 0.0014388,
|
| 110 |
+
"p2": 0.0010173
|
| 111 |
+
},
|
| 112 |
+
"params_on_native_fisheye": {
|
| 113 |
+
"xi": 2.31494,
|
| 114 |
+
"k1": 0.945494,
|
| 115 |
+
"k2": -1.770511,
|
| 116 |
+
"k3": 3.223096,
|
| 117 |
+
"p1": 0.001439,
|
| 118 |
+
"p2": 0.001017,
|
| 119 |
+
"fx": 1780.0775,
|
| 120 |
+
"fy": 1780.03,
|
| 121 |
+
"cx": 964.075,
|
| 122 |
+
"cy": 958.375
|
| 123 |
+
},
|
| 124 |
+
"cam_imu_factory": {
|
| 125 |
+
"yaw_deg": -0.482,
|
| 126 |
+
"pitch_deg": -0.157,
|
| 127 |
+
"roll_deg": 88.884,
|
| 128 |
+
"t_m": [
|
| 129 |
+
-0.001914,
|
| 130 |
+
-0.000591,
|
| 131 |
+
-0.033149
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"cam_imu_used_by_cook": {
|
| 137 |
+
"R_cam_imu": [
|
| 138 |
+
[
|
| 139 |
+
0.0012566367307023252,
|
| 140 |
+
0.006318044869206176,
|
| 141 |
+
0.9999792513713259
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.9999900681225892,
|
| 145 |
+
-0.004283897711408802,
|
| 146 |
+
-0.0012295839041644462
|
| 147 |
+
],
|
| 148 |
+
[
|
| 149 |
+
0.004276040260128955,
|
| 150 |
+
0.9999708648402855,
|
| 151 |
+
-0.006323365422373787
|
| 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 |
+
-0.0009979738722080995,
|
| 188 |
+
-7.590495180781667e-05,
|
| 189 |
+
0.001331743031894395
|
| 190 |
+
],
|
| 191 |
+
"accel_bias_m_s2": [
|
| 192 |
+
-0.16426932903165703,
|
| 193 |
+
0.06206009360245489,
|
| 194 |
+
-0.02775673406327294
|
| 195 |
+
],
|
| 196 |
+
"gravity_vector_camera_frame": [
|
| 197 |
+
-0.1298127592403881,
|
| 198 |
+
-0.33536466166982615,
|
| 199 |
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-0.9331019189999985
|
| 200 |
+
],
|
| 201 |
+
"gravity_magnitude_m_s2": 9.858284370073132,
|
| 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": 7108.39,
|
| 214 |
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"fy": 7106.1,
|
| 215 |
+
"cx": 3837.99,
|
| 216 |
+
"cy": 3862.2,
|
| 217 |
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"k1": 0.96027756,
|
| 218 |
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"k2": -1.91148615,
|
| 219 |
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"k3": 3.69615507,
|
| 220 |
+
"p1": -0.00068743,
|
| 221 |
+
"p2": 0.00118116
|
| 222 |
+
},
|
| 223 |
+
"params_on_native_fisheye": {
|
| 224 |
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"xi": 2.31494,
|
| 225 |
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"k1": 0.960278,
|
| 226 |
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"k2": -1.911486,
|
| 227 |
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"k3": 3.696155,
|
| 228 |
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"p1": -0.000687,
|
| 229 |
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"p2": 0.001181,
|
| 230 |
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"fx": 1777.0975,
|
| 231 |
+
"fy": 1776.525,
|
| 232 |
+
"cx": 959.4975,
|
| 233 |
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"cy": 965.55
|
| 234 |
+
},
|
| 235 |
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"cam_imu_factory": {
|
| 236 |
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"yaw_deg": -0.038,
|
| 237 |
+
"pitch_deg": -0.41,
|
| 238 |
+
"roll_deg": 89.824,
|
| 239 |
+
"t_m": [
|
| 240 |
+
0.0,
|
| 241 |
+
0.0,
|
| 242 |
+
0.0
|
| 243 |
+
]
|
| 244 |
+
},
|
| 245 |
+
"params_on_dataset_frame": {
|
| 246 |
+
"xi": 2.31494,
|
| 247 |
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"k1": 0.960278,
|
| 248 |
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"k2": -1.911486,
|
| 249 |
+
"k3": 3.696155,
|
| 250 |
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"p1": -0.000687,
|
| 251 |
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"p2": 0.001181,
|
| 252 |
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"fx": 888.54875,
|
| 253 |
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"fy": 888.2625,
|
| 254 |
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"cx": 479.74875,
|
| 255 |
+
"cy": 482.775
|
| 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 |
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"fx": 7104.96,
|
| 267 |
+
"fy": 7103.43,
|
| 268 |
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"cx": 11543.3,
|
| 269 |
+
"cy": 3827.7,
|
| 270 |
+
"k1": 0.95837986,
|
| 271 |
+
"k2": -1.94622421,
|
| 272 |
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"k3": 3.85370684,
|
| 273 |
+
"p1": 0.00113873,
|
| 274 |
+
"p2": 4.863e-05
|
| 275 |
+
},
|
| 276 |
+
"params_on_native_fisheye": {
|
| 277 |
+
"xi": 2.31494,
|
| 278 |
+
"k1": 0.95838,
|
| 279 |
+
"k2": -1.946224,
|
| 280 |
+
"k3": 3.853707,
|
| 281 |
+
"p1": 0.001139,
|
| 282 |
+
"p2": 4.9e-05,
|
| 283 |
+
"fx": 1776.24,
|
| 284 |
+
"fy": 1775.8575,
|
| 285 |
+
"cx": 965.825,
|
| 286 |
+
"cy": 956.925
|
| 287 |
+
},
|
| 288 |
+
"cam_imu_factory": {
|
| 289 |
+
"yaw_deg": 0.076,
|
| 290 |
+
"pitch_deg": -0.321,
|
| 291 |
+
"roll_deg": 89.455,
|
| 292 |
+
"t_m": [
|
| 293 |
+
-0.001616,
|
| 294 |
+
-0.000337,
|
| 295 |
+
-0.033354
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"cam_imu_used_by_cook": {
|
| 301 |
+
"R_cam_imu": [
|
| 302 |
+
[
|
| 303 |
+
0.0071557888626999615,
|
| 304 |
+
-0.000663208086594611,
|
| 305 |
+
0.9999741770869816
|
| 306 |
+
],
|
| 307 |
+
[
|
| 308 |
+
0.9999696792250243,
|
| 309 |
+
0.0030765198532859417,
|
| 310 |
+
-0.007153716250583313
|
| 311 |
+
],
|
| 312 |
+
[
|
| 313 |
+
-0.003071696006114788,
|
| 314 |
+
0.9999950475780497,
|
| 315 |
+
0.0006852029041134744
|
| 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_e00081/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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|
| 1 |
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{
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| 2 |
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| 20 |
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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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|
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|
| 35 |
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|
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|
| 37 |
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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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|
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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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|
| 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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|
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|
| 60 |
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| 61 |
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|
| 62 |
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|
| 64 |
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| 65 |
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|
| 69 |
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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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|
| 79 |
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|
| 80 |
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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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| 87 |
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|
| 89 |
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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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"left_qy",
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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"right_y",
|
| 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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"right_qy",
|
| 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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|
| 112 |
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|
| 113 |
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|
| 116 |
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|
| 117 |
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|
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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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| 129 |
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|
| 130 |
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|
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 137 |
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|
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|
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|
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|
| 141 |
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|
| 144 |
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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_e00081/meta/stats.json
ADDED
|
@@ -0,0 +1,812 @@
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