BorisGuo commited on Jan 8

Commit

c9d5e27

verified ·

1 Parent(s): b61d9f2

Add files using upload-large-folder tool

Browse files

Files changed (50) hide show

recorded_tac02_pose/episode_100/pose_data.json +464 -0
recorded_tac02_pose/episode_102/pose_data.json +450 -0
recorded_tac02_pose/episode_102/session_info.json +13 -0
recorded_tac02_pose/episode_102/tactile_data.json +0 -0
recorded_tac02_pose/episode_106/pose_data.json +436 -0
recorded_tac02_pose/episode_106/session_info.json +13 -0
recorded_tac02_pose/episode_106/tactile_data.json +0 -0
recorded_tac02_pose/episode_114/pose_data.json +394 -0
recorded_tac02_pose/episode_114/session_info.json +13 -0
recorded_tac02_pose/episode_114/tactile_data.json +0 -0
recorded_tac02_pose/episode_136/pose_data.json +408 -0
recorded_tac02_pose/episode_136/session_info.json +13 -0
recorded_tac02_pose/episode_136/tactile_data.json +0 -0
recorded_tac02_pose/episode_150/pose_data.json +464 -0
recorded_tac02_pose/episode_150/session_info.json +13 -0
recorded_tac02_pose/episode_150/tactile_data.json +0 -0
recorded_tac02_pose/episode_28/pose_data.json +478 -0
recorded_tac02_pose/episode_28/session_info.json +13 -0
recorded_tac02_pose/episode_28/tactile_data.json +0 -0
recorded_tac02_pose/episode_34/session_info.json +13 -0
recorded_tac02_pose/episode_40/pose_data.json +436 -0
recorded_tac02_pose/episode_40/session_info.json +13 -0
recorded_tac02_pose/episode_40/tactile_data.json +0 -0
recorded_tac02_pose/episode_42/pose_data.json +408 -0
recorded_tac02_pose/episode_42/session_info.json +13 -0
recorded_tac02_pose/episode_42/tactile_data.json +0 -0
recorded_tac02_pose/episode_46/pose_data.json +408 -0
recorded_tac02_pose/episode_46/session_info.json +13 -0
recorded_tac02_pose/episode_46/tactile_data.json +0 -0
recorded_tac02_pose/episode_54/pose_data.json +422 -0
recorded_tac02_pose/episode_54/session_info.json +13 -0
recorded_tac02_pose/episode_54/tactile_data.json +0 -0
recorded_tac02_pose/episode_81/pose_data.json +394 -0
recorded_tac02_pose/episode_81/session_info.json +13 -0
recorded_tac02_pose/episode_81/tactile_data.json +0 -0
recorded_tac02_pose/episode_85/pose_data.json +436 -0
recorded_tac02_pose/episode_85/session_info.json +13 -0
recorded_tac02_pose/episode_85/tactile_data.json +0 -0
recorded_tac02_pose/episode_93/pose_data.json +450 -0
recorded_tac02_pose/episode_93/session_info.json +13 -0
recorded_tac02_pose/episode_93/tactile_data.json +0 -0
recorded_tac02_pose/episode_96/pose_data.json +450 -0
recorded_tac02_pose/episode_96/session_info.json +13 -0
recorded_tac02_pose/episode_96/tactile_data.json +0 -0
recorded_tac02_pose/episode_97/pose_data.json +450 -0
recorded_tac02_pose/episode_97/session_info.json +13 -0
recorded_tac02_pose/episode_97/tactile_data.json +0 -0
recorded_tac02_pose/episode_98/pose_data.json +422 -0
recorded_tac02_pose/episode_98/session_info.json +13 -0
recorded_tac02_pose/episode_98/tactile_data.json +0 -0

recorded_tac02_pose/episode_100/pose_data.json ADDED Viewed

	@@ -0,0 +1,464 @@

+[
+  {
+    "timestamp": 1766209963.085695,
+    "position": {
+      "x": -0.10327984507603033,
+      "y": -0.008737841144539071,
+      "z": 0.017926066061388995
+    },
+    "orientation": {
+      "x": -0.3340671026151701,
+      "y": 0.8460729728277793,
+      "z": 0.34543704423840377,
+      "w": -0.23072265616645457
+    }
+  },
+  {
+    "timestamp": 1766209963.218385,
+    "position": {
+      "x": -0.10370530073097622,
+      "y": -0.00864599244870147,
+      "z": 0.018241382392323466
+    },
+    "orientation": {
+      "x": -0.33408518122601083,
+      "y": 0.8456146918155689,
+      "z": 0.3467059420817133,
+      "w": -0.2304731533087432
+    }
+  },
+  {
+    "timestamp": 1766209963.351075,
+    "position": {
+      "x": -0.10439885789945524,
+      "y": -0.008333331255815021,
+      "z": 0.01866478736490422
+    },
+    "orientation": {
+      "x": -0.33323973296320164,
+      "y": 0.8442223470890531,
+      "z": 0.35140252021290647,
+      "w": -0.22968713032750013
+    }
+  },
+  {
+    "timestamp": 1766209963.4837651,
+    "position": {
+      "x": -0.10344241915306482,
+      "y": -0.00885865387047978,
+      "z": 0.01816290976798049
+    },
+    "orientation": {
+      "x": -0.3308748038062185,
+      "y": 0.8378597697618783,
+      "z": 0.3691146040408041,
+      "w": -0.22862038295954523
+    }
+  },
+  {
+    "timestamp": 1766209963.616455,
+    "position": {
+      "x": -0.10372588045866055,
+      "y": -0.003971899462202583,
+      "z": 0.016640208172540985
+    },
+    "orientation": {
+      "x": -0.3259392299241295,
+      "y": 0.8067224119928338,
+      "z": 0.440601591083322,
+      "w": -0.22098146148438594
+    }
+  },
+  {
+    "timestamp": 1766209963.749146,
+    "position": {
+      "x": -0.10359299104385278,
+      "y": 0.0006767346459789353,
+      "z": 0.016045009561306237
+    },
+    "orientation": {
+      "x": -0.3127444626635411,
+      "y": 0.7624008858728489,
+      "z": 0.5255484570669177,
+      "w": -0.21150557810178483
+    }
+  },
+  {
+    "timestamp": 1766209963.881836,
+    "position": {
+      "x": -0.10582023047034186,
+      "y": 0.005678032927449672,
+      "z": 0.01797135153947095
+    },
+    "orientation": {
+      "x": -0.29644231153741923,
+      "y": 0.7069160037513467,
+      "z": 0.6113905924572977,
+      "w": -0.19645168114651537
+    }
+  },
+  {
+    "timestamp": 1766209964.0145261,
+    "position": {
+      "x": -0.1072340385575887,
+      "y": 0.010523555199953724,
+      "z": 0.018549585957489026
+    },
+    "orientation": {
+      "x": -0.2795925051029889,
+      "y": 0.6564087006457278,
+      "z": 0.6756492173773254,
+      "w": -0.1856173048619938
+    }
+  },
+  {
+    "timestamp": 1766209964.147216,
+    "position": {
+      "x": -0.1068921940722519,
+      "y": 0.013966311031009412,
+      "z": 0.019388921956851532
+    },
+    "orientation": {
+      "x": -0.2631452534082475,
+      "y": 0.6117260060952132,
+      "z": 0.7253097002187952,
+      "w": -0.17456147296591398
+    }
+  },
+  {
+    "timestamp": 1766209964.279906,
+    "position": {
+      "x": -0.10784339123262515,
+      "y": 0.014874121040571953,
+      "z": 0.019907213992688702
+    },
+    "orientation": {
+      "x": -0.2630649535481895,
+      "y": 0.6042081099328157,
+      "z": 0.7319765431103223,
+      "w": -0.17303101005994778
+    }
+  },
+  {
+    "timestamp": 1766209964.412596,
+    "position": {
+      "x": -0.10649054698733779,
+      "y": 0.011563465900900488,
+      "z": 0.018671734238543555
+    },
+    "orientation": {
+      "x": -0.2661332486532282,
+      "y": 0.6279649996604768,
+      "z": 0.7093689187564847,
+      "w": -0.17784484885695181
+    }
+  },
+  {
+    "timestamp": 1766209964.545286,
+    "position": {
+      "x": -0.10472077475739533,
+      "y": 0.008475168752838061,
+      "z": 0.01740680787201028
+    },
+    "orientation": {
+      "x": -0.2843138778337402,
+      "y": 0.673806652542842,
+      "z": 0.6551686761905828,
+      "w": -0.18948408798321367
+    }
+  },
+  {
+    "timestamp": 1766209964.6779761,
+    "position": {
+      "x": -0.10244329060303942,
+      "y": 0.002328426511449447,
+      "z": 0.015438646039927853
+    },
+    "orientation": {
+      "x": -0.3053271153296222,
+      "y": 0.7421556067337782,
+      "z": 0.5593900306374419,
+      "w": -0.2075167503156095
+    }
+  },
+  {
+    "timestamp": 1766209964.810666,
+    "position": {
+      "x": -0.10231717107734639,
+      "y": -0.004726820129178522,
+      "z": 0.016637303031161316
+    },
+    "orientation": {
+      "x": -0.3185416160712379,
+      "y": 0.7973149417922645,
+      "z": 0.46338634689772057,
+      "w": -0.21930165511073416
+    }
+  },
+  {
+    "timestamp": 1766209964.943357,
+    "position": {
+      "x": -0.1022181469785112,
+      "y": -0.010316455578399532,
+      "z": 0.018554239497274208
+    },
+    "orientation": {
+      "x": -0.32541229437334507,
+      "y": 0.835585383979246,
+      "z": 0.3793402253777021,
+      "w": -0.2280458246961025
+    }
+  },
+  {
+    "timestamp": 1766209965.076047,
+    "position": {
+      "x": -0.10221573401427286,
+      "y": -0.014106804444852766,
+      "z": 0.020965673069520477
+    },
+    "orientation": {
+      "x": -0.3298442048354128,
+      "y": 0.8606217058821425,
+      "z": 0.31093353099712817,
+      "w": -0.23206339479259333
+    }
+  },
+  {
+    "timestamp": 1766209965.2087371,
+    "position": {
+      "x": -0.10123142683274866,
+      "y": -0.017544238761327824,
+      "z": 0.022403830762148316
+    },
+    "orientation": {
+      "x": -0.3307403107920044,
+      "y": 0.8812922454597477,
+      "z": 0.23995277863039308,
+      "w": -0.2373973229362068
+    }
+  },
+  {
+    "timestamp": 1766209965.341427,
+    "position": {
+      "x": -0.1002391816852374,
+      "y": -0.019232005696573642,
+      "z": 0.024464748677118855
+    },
+    "orientation": {
+      "x": -0.33160503023768656,
+      "y": 0.8915481371703307,
+      "z": 0.19515633277117733,
+      "w": -0.23894356825091917
+    }
+  },
+  {
+    "timestamp": 1766209965.474117,
+    "position": {
+      "x": -0.10016795402647219,
+      "y": -0.019126969669280194,
+      "z": 0.02447173348764148
+    },
+    "orientation": {
+      "x": -0.33035011834623257,
+      "y": 0.892148214804626,
+      "z": 0.19438816598121625,
+      "w": -0.23906819750022784
+    }
+  },
+  {
+    "timestamp": 1766209965.606807,
+    "position": {
+      "x": -0.10124489580120163,
+      "y": -0.017355300576901406,
+      "z": 0.023510922691983682
+    },
+    "orientation": {
+      "x": -0.33216508790703997,
+      "y": 0.8848109752543838,
+      "z": 0.22486033003151798,
+      "w": -0.23709433654815848
+    }
+  },
+  {
+    "timestamp": 1766209965.739497,
+    "position": {
+      "x": -0.10181250181201129,
+      "y": -0.014731302322320075,
+      "z": 0.020942883846752303
+    },
+    "orientation": {
+      "x": -0.33346453625160233,
+      "y": 0.8709868648326686,
+      "z": 0.27262860219906687,
+      "w": -0.23634070663862644
+    }
+  },
+  {
+    "timestamp": 1766209965.8721871,
+    "position": {
+      "x": -0.10180763242821586,
+      "y": -0.010124857993535047,
+      "z": 0.018589034379320135
+    },
+    "orientation": {
+      "x": -0.3327532241954589,
+      "y": 0.8457475555779236,
+      "z": 0.3479653077183311,
+      "w": -0.23001414879520088
+    }
+  },
+  {
+    "timestamp": 1766209966.004877,
+    "position": {
+      "x": -0.10138060809590907,
+      "y": -0.0045172425422822515,
+      "z": 0.01572712513411538
+    },
+    "orientation": {
+      "x": -0.32890586118097925,
+      "y": 0.8115734032811599,
+      "z": 0.42804600892118405,
+      "w": -0.223486375007694
+    }
+  },
+  {
+    "timestamp": 1766209966.137568,
+    "position": {
+      "x": -0.09975979188487288,
+      "y": -0.0006069680241524988,
+      "z": 0.014490474056347388
+    },
+    "orientation": {
+      "x": -0.3194946396774631,
+      "y": 0.7802490883560629,
+      "z": 0.4920182792945935,
+      "w": -0.21691599336353268
+    }
+  },
+  {
+    "timestamp": 1766209966.270258,
+    "position": {
+      "x": -0.10078020225654974,
+      "y": 0.006415803348634425,
+      "z": 0.01357086814923765
+    },
+    "orientation": {
+      "x": -0.3066330013003699,
+      "y": 0.7287963390660142,
+      "z": 0.5759051847824158,
+      "w": -0.20776264538707107
+    }
+  },
+  {
+    "timestamp": 1766209966.4029481,
+    "position": {
+      "x": -0.10255296286190502,
+      "y": 0.009574950920371708,
+      "z": 0.014546537910728782
+    },
+    "orientation": {
+      "x": -0.2930618053029642,
+      "y": 0.6904785093436089,
+      "z": 0.6305347470064876,
+      "w": -0.19944959068561718
+    }
+  },
+  {
+    "timestamp": 1766209966.535638,
+    "position": {
+      "x": -0.10269131962189709,
+      "y": 0.010312669432567381,
+      "z": 0.015065808184306792
+    },
+    "orientation": {
+      "x": -0.29271906782737517,
+      "y": 0.6851318377265307,
+      "z": 0.6368236388614752,
+      "w": -0.1984075735726046
+    }
+  },
+  {
+    "timestamp": 1766209966.668328,
+    "position": {
+      "x": -0.10293373603384237,
+      "y": 0.009944819779565892,
+      "z": 0.014920262528877654
+    },
+    "orientation": {
+      "x": -0.30227006857797295,
+      "y": 0.7016394612540394,
+      "z": 0.6128300423678326,
+      "w": -0.2019262519447372
+    }
+  },
+  {
+    "timestamp": 1766209966.801018,
+    "position": {
+      "x": -0.10160050544200841,
+      "y": 0.006892883549388121,
+      "z": 0.013611833732248432
+    },
+    "orientation": {
+      "x": -0.31295769227553777,
+      "y": 0.7368240816186662,
+      "z": 0.5606777306632013,
+      "w": -0.21163231778426883
+    }
+  },
+  {
+    "timestamp": 1766209966.933708,
+    "position": {
+      "x": -0.09908587594450857,
+      "y": 0.0016611417655189309,
+      "z": 0.013092308267015004
+    },
+    "orientation": {
+      "x": -0.32433276994649735,
+      "y": 0.7758657177396486,
+      "z": 0.49489685474805695,
+      "w": -0.2189012232392796
+    }
+  },
+  {
+    "timestamp": 1766209967.0663981,
+    "position": {
+      "x": -0.09974587705193336,
+      "y": -0.0025740229050888463,
+      "z": 0.014336292519721752
+    },
+    "orientation": {
+      "x": -0.3279333367304743,
+      "y": 0.8035734633483244,
+      "z": 0.44340683832548466,
+      "w": -0.22387449919406618
+    }
+  },
+  {
+    "timestamp": 1766209967.199088,
+    "position": {
+      "x": -0.10034138433642564,
+      "y": -0.00615557171098903,
+      "z": 0.0152996356249641
+    },
+    "orientation": {
+      "x": -0.331400795071544,
+      "y": 0.8255661781642178,
+      "z": 0.3961380137147566,
+      "w": -0.2273514297016901
+    }
+  },
+  {
+    "timestamp": 1766209967.331779,
+    "position": {
+      "x": -0.09994239322416668,
+      "y": -0.008117045861155789,
+      "z": 0.01626421709898704
+    },
+    "orientation": {
+      "x": -0.3342539455040314,
+      "y": 0.8378799688882622,
+      "z": 0.3652195490008508,
+      "w": -0.22988288035085974
+    }
+  }
+]

recorded_tac02_pose/episode_102/pose_data.json ADDED Viewed

	@@ -0,0 +1,450 @@

+[
+  {
+    "timestamp": 1766210024.521215,
+    "position": {
+      "x": -0.09775012743395634,
+      "y": -0.02103356682983399,
+      "z": 0.019530643063813913
+    },
+    "orientation": {
+      "x": -0.3300940603423135,
+      "y": 0.8907345534380877,
+      "z": 0.1995981589685785,
+      "w": -0.2403964258771943
+    }
+  },
+  {
+    "timestamp": 1766210024.6539052,
+    "position": {
+      "x": -0.09928185746612628,
+      "y": -0.021498313516679676,
+      "z": 0.02134196920900651
+    },
+    "orientation": {
+      "x": -0.3285267866932623,
+      "y": 0.8922298948496415,
+      "z": 0.19625449394824376,
+      "w": -0.2397501590546212
+    }
+  },
+  {
+    "timestamp": 1766210024.786595,
+    "position": {
+      "x": -0.09807215745398909,
+      "y": -0.022013266336636646,
+      "z": 0.02076523883979206
+    },
+    "orientation": {
+      "x": -0.32891936631501145,
+      "y": 0.8934194007550522,
+      "z": 0.19028270569789132,
+      "w": -0.2395961534117447
+    }
+  },
+  {
+    "timestamp": 1766210024.919285,
+    "position": {
+      "x": -0.09806065150227644,
+      "y": -0.02115121492707854,
+      "z": 0.020501186240259206
+    },
+    "orientation": {
+      "x": -0.32771775660603786,
+      "y": 0.8911410095979408,
+      "z": 0.20233789270376043,
+      "w": -0.23985026619553665
+    }
+  },
+  {
+    "timestamp": 1766210025.051975,
+    "position": {
+      "x": -0.09770412309619816,
+      "y": -0.02053506260473558,
+      "z": 0.018687748517040054
+    },
+    "orientation": {
+      "x": -0.3301492843675641,
+      "y": 0.8890378642049019,
+      "z": 0.20582669133172316,
+      "w": -0.24134725848247682
+    }
+  },
+  {
+    "timestamp": 1766210025.1846662,
+    "position": {
+      "x": -0.09778720019892292,
+      "y": -0.019374350188042455,
+      "z": 0.01740680931306038
+    },
+    "orientation": {
+      "x": -0.33121581786116544,
+      "y": 0.8884767271152277,
+      "z": 0.20252839047624915,
+      "w": -0.2447191010613443
+    }
+  },
+  {
+    "timestamp": 1766210025.317356,
+    "position": {
+      "x": -0.09852172554352667,
+      "y": -0.017146329056033777,
+      "z": 0.016239800540884905
+    },
+    "orientation": {
+      "x": -0.3342158920494447,
+      "y": 0.8868836744433998,
+      "z": 0.2012146643047516,
+      "w": -0.24748685697647424
+    }
+  },
+  {
+    "timestamp": 1766210025.450046,
+    "position": {
+      "x": -0.09798125484825781,
+      "y": -0.014306545881757643,
+      "z": 0.012675928145861756
+    },
+    "orientation": {
+      "x": -0.33859406438969086,
+      "y": 0.8845247337505734,
+      "z": 0.19649741620435587,
+      "w": -0.2536904025944994
+    }
+  },
+  {
+    "timestamp": 1766210025.582736,
+    "position": {
+      "x": -0.09846848406877687,
+      "y": -0.01165801465226237,
+      "z": 0.010302335886453143
+    },
+    "orientation": {
+      "x": -0.3412698299096454,
+      "y": 0.8824087567888772,
+      "z": 0.19431154281005042,
+      "w": -0.2590998137138034
+    }
+  },
+  {
+    "timestamp": 1766210025.715426,
+    "position": {
+      "x": -0.0987378560150082,
+      "y": -0.009370573324816292,
+      "z": 0.008612487407428704
+    },
+    "orientation": {
+      "x": -0.34559940834598313,
+      "y": 0.8803703440655833,
+      "z": 0.19116826443693338,
+      "w": -0.26260959790708965
+    }
+  },
+  {
+    "timestamp": 1766210025.848116,
+    "position": {
+      "x": -0.09897283649956437,
+      "y": -0.007967614052357415,
+      "z": 0.007649685090558911
+    },
+    "orientation": {
+      "x": -0.34652138422426565,
+      "y": 0.8795839084418111,
+      "z": 0.1901422454583907,
+      "w": -0.26476594338692333
+    }
+  },
+  {
+    "timestamp": 1766210025.980806,
+    "position": {
+      "x": -0.09919091151186515,
+      "y": -0.008580770233917887,
+      "z": 0.008822394405428341
+    },
+    "orientation": {
+      "x": -0.3463218546693081,
+      "y": 0.878284107246335,
+      "z": 0.19895667602319192,
+      "w": -0.2628582146380855
+    }
+  },
+  {
+    "timestamp": 1766210026.113496,
+    "position": {
+      "x": -0.09877045577112939,
+      "y": -0.010617205078831737,
+      "z": 0.00975282713379734
+    },
+    "orientation": {
+      "x": -0.34346801577731956,
+      "y": 0.8802653621159205,
+      "z": 0.19836197501949696,
+      "w": -0.26041340453840445
+    }
+  },
+  {
+    "timestamp": 1766210026.246186,
+    "position": {
+      "x": -0.09967817433843948,
+      "y": -0.011852978452668285,
+      "z": 0.011301593497351325
+    },
+    "orientation": {
+      "x": -0.34079679932379087,
+      "y": 0.8806904161547029,
+      "z": 0.20233125893645856,
+      "w": -0.2594301334099484
+    }
+  },
+  {
+    "timestamp": 1766210026.378877,
+    "position": {
+      "x": -0.09974932176665166,
+      "y": -0.015217352798552991,
+      "z": 0.013931972324447789
+    },
+    "orientation": {
+      "x": -0.33546482401100447,
+      "y": 0.883334674228295,
+      "z": 0.2068395717507207,
+      "w": -0.253772726499985
+    }
+  },
+  {
+    "timestamp": 1766210026.511567,
+    "position": {
+      "x": -0.09881460325251218,
+      "y": -0.017917271311509206,
+      "z": 0.015890314782298395
+    },
+    "orientation": {
+      "x": -0.33136589722347937,
+      "y": 0.8851341090167015,
+      "z": 0.21004076410148742,
+      "w": -0.25023414760610047
+    }
+  },
+  {
+    "timestamp": 1766210026.644257,
+    "position": {
+      "x": -0.09937028235954454,
+      "y": -0.02173699311336954,
+      "z": 0.018827635184884547
+    },
+    "orientation": {
+      "x": -0.325603793528965,
+      "y": 0.8885142177036001,
+      "z": 0.21311878438644052,
+      "w": -0.24311527784109493
+    }
+  },
+  {
+    "timestamp": 1766210026.776947,
+    "position": {
+      "x": -0.09880488210545732,
+      "y": -0.023120295512256202,
+      "z": 0.02012139720161281
+    },
+    "orientation": {
+      "x": -0.3243298498892278,
+      "y": 0.8890665137108854,
+      "z": 0.21556356533114582,
+      "w": -0.24063090402217158
+    }
+  },
+  {
+    "timestamp": 1766210026.909637,
+    "position": {
+      "x": -0.09881086277953544,
+      "y": -0.026021427595789,
+      "z": 0.02190270998163761
+    },
+    "orientation": {
+      "x": -0.31846009864787955,
+      "y": 0.8912411217328491,
+      "z": 0.21975987755439014,
+      "w": -0.23659675551206316
+    }
+  },
+  {
+    "timestamp": 1766210027.042327,
+    "position": {
+      "x": -0.09837058499597906,
+      "y": -0.027380909829683255,
+      "z": 0.0233419728464659
+    },
+    "orientation": {
+      "x": -0.31703516824142686,
+      "y": 0.8923486569614785,
+      "z": 0.22136728642125794,
+      "w": -0.23280700380285918
+    }
+  },
+  {
+    "timestamp": 1766210027.175017,
+    "position": {
+      "x": -0.09781605084795486,
+      "y": -0.028703544188608154,
+      "z": 0.02392986356109257
+    },
+    "orientation": {
+      "x": -0.313829437672265,
+      "y": 0.8934910485024381,
+      "z": 0.22328317460675876,
+      "w": -0.23093170902639476
+    }
+  },
+  {
+    "timestamp": 1766210027.307707,
+    "position": {
+      "x": -0.09780470454567944,
+      "y": -0.025480074145776757,
+      "z": 0.021617836834491033
+    },
+    "orientation": {
+      "x": -0.31916293026674347,
+      "y": 0.8908533755679595,
+      "z": 0.2224983288012689,
+      "w": -0.23454163993491736
+    }
+  },
+  {
+    "timestamp": 1766210027.440397,
+    "position": {
+      "x": -0.09930144953037207,
+      "y": -0.020282313758076237,
+      "z": 0.0206540378536596
+    },
+    "orientation": {
+      "x": -0.3288147660756977,
+      "y": 0.8868023505349348,
+      "z": 0.22034960151746538,
+      "w": -0.238555012119622
+    }
+  },
+  {
+    "timestamp": 1766210027.573088,
+    "position": {
+      "x": -0.10091125181320929,
+      "y": -0.016454956117333185,
+      "z": 0.02123077679677024
+    },
+    "orientation": {
+      "x": -0.33611070843106283,
+      "y": 0.8834381370489639,
+      "z": 0.22233009619714583,
+      "w": -0.23903133269593144
+    }
+  },
+  {
+    "timestamp": 1766210027.7057781,
+    "position": {
+      "x": -0.1025248894696929,
+      "y": -0.013999708888669277,
+      "z": 0.02225779147419696
+    },
+    "orientation": {
+      "x": -0.34039994532498125,
+      "y": 0.8815927395731645,
+      "z": 0.2244350470064782,
+      "w": -0.2378046013638759
+    }
+  },
+  {
+    "timestamp": 1766210027.838468,
+    "position": {
+      "x": -0.10219102453895995,
+      "y": -0.013278092439294446,
+      "z": 0.02207204815428758
+    },
+    "orientation": {
+      "x": -0.34198748746751206,
+      "y": 0.881043225270744,
+      "z": 0.2233029868180097,
+      "w": -0.2386276800757593
+    }
+  },
+  {
+    "timestamp": 1766210027.971158,
+    "position": {
+      "x": -0.10191761205944777,
+      "y": -0.015921867252796193,
+      "z": 0.019832159469184305
+    },
+    "orientation": {
+      "x": -0.33596108969639965,
+      "y": 0.8814934523314172,
+      "z": 0.22719285265138434,
+      "w": -0.24183227123560963
+    }
+  },
+  {
+    "timestamp": 1766210028.103848,
+    "position": {
+      "x": -0.09996958519889035,
+      "y": -0.017741958490194915,
+      "z": 0.01671686116096527
+    },
+    "orientation": {
+      "x": -0.3307462253336186,
+      "y": 0.8828998319503267,
+      "z": 0.2240192005805463,
+      "w": -0.2467999573356949
+    }
+  },
+  {
+    "timestamp": 1766210028.236538,
+    "position": {
+      "x": -0.09847712424360658,
+      "y": -0.02039133378105544,
+      "z": 0.013684075387036615
+    },
+    "orientation": {
+      "x": -0.32553431316881126,
+      "y": 0.8843132639815384,
+      "z": 0.221252910076934,
+      "w": -0.25112668491921863
+    }
+  },
+  {
+    "timestamp": 1766210028.3692281,
+    "position": {
+      "x": -0.09786885326882366,
+      "y": -0.022583942106880917,
+      "z": 0.011727075419587271
+    },
+    "orientation": {
+      "x": -0.31994304408833435,
+      "y": 0.8859411580799186,
+      "z": 0.22118992154051825,
+      "w": -0.2526256748004883
+    }
+  },
+  {
+    "timestamp": 1766210028.501918,
+    "position": {
+      "x": -0.09660358361950822,
+      "y": -0.022377530563474454,
+      "z": 0.010559262745489406
+    },
+    "orientation": {
+      "x": -0.3187460287736191,
+      "y": 0.8857867185837534,
+      "z": 0.22061230531136264,
+      "w": -0.2551726260139987
+    }
+  },
+  {
+    "timestamp": 1766210028.634608,
+    "position": {
+      "x": -0.09692806402294579,
+      "y": -0.02137245225640627,
+      "z": 0.011986663631504246
+    },
+    "orientation": {
+      "x": -0.32312374154694024,
+      "y": 0.8856645346680931,
+      "z": 0.21708976131067545,
+      "w": -0.2531035661817709
+    }
+  }
+]

recorded_tac02_pose/episode_102/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 108,
+  "start_time": "2025-12-20T13:53:52.622733",
+  "ros_start_time": 1766210032.6227467,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:53:56.910158",
+  "ros_end_time": 1766210036.9101636,
+  "total_tactile_frames": 848,
+  "total_pose_frames": 32
+}

recorded_tac02_pose/episode_102/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_106/pose_data.json ADDED Viewed

	@@ -0,0 +1,436 @@

+[
+  {
+    "timestamp": 1766210054.77456,
+    "position": {
+      "x": -0.09919782474878203,
+      "y": -0.007868004395311254,
+      "z": 0.00936006887639261
+    },
+    "orientation": {
+      "x": -0.3427303064683246,
+      "y": 0.8619399079800496,
+      "z": 0.2771777789697254,
+      "w": -0.25053544839978636
+    }
+  },
+  {
+    "timestamp": 1766210054.90725,
+    "position": {
+      "x": -0.09846494182348553,
+      "y": -0.007713055855359682,
+      "z": 0.008934051934985351
+    },
+    "orientation": {
+      "x": -0.3425626797262933,
+      "y": 0.8618493515684806,
+      "z": 0.2765779128054111,
+      "w": -0.25173629815331094
+    }
+  },
+  {
+    "timestamp": 1766210055.03994,
+    "position": {
+      "x": -0.09804742422129298,
+      "y": -0.006957477962290529,
+      "z": 0.0083864870657724
+    },
+    "orientation": {
+      "x": -0.34369760259853027,
+      "y": 0.859919766125254,
+      "z": 0.28169882797977175,
+      "w": -0.2511089885088427
+    }
+  },
+  {
+    "timestamp": 1766210055.17263,
+    "position": {
+      "x": -0.09837445737849096,
+      "y": -0.0062211780947101225,
+      "z": 0.007832919586322165
+    },
+    "orientation": {
+      "x": -0.3442774621684247,
+      "y": 0.8593994240012538,
+      "z": 0.28153117336585926,
+      "w": -0.25228130626827006
+    }
+  },
+  {
+    "timestamp": 1766210055.30532,
+    "position": {
+      "x": -0.09768715452120114,
+      "y": -0.004629477116216987,
+      "z": 0.007010931814540128
+    },
+    "orientation": {
+      "x": -0.3471391002949825,
+      "y": 0.8584972100340027,
+      "z": 0.2797269920418036,
+      "w": -0.2534359787667654
+    }
+  },
+  {
+    "timestamp": 1766210055.43801,
+    "position": {
+      "x": -0.09896118767770937,
+      "y": -0.0037341448825536777,
+      "z": 0.007157848016647025
+    },
+    "orientation": {
+      "x": -0.3492585834819334,
+      "y": 0.857179432282703,
+      "z": 0.2810684176251728,
+      "w": -0.25350031035361237
+    }
+  },
+  {
+    "timestamp": 1766210055.5707,
+    "position": {
+      "x": -0.10005799995199197,
+      "y": -0.0021833008858069963,
+      "z": 0.006974237741414327
+    },
+    "orientation": {
+      "x": -0.3506550999718949,
+      "y": 0.8556856529354163,
+      "z": 0.2820472763124674,
+      "w": -0.2555237721796335
+    }
+  },
+  {
+    "timestamp": 1766210055.7033901,
+    "position": {
+      "x": -0.0994412236417298,
+      "y": -0.0009321294995172369,
+      "z": 0.005821556515785226
+    },
+    "orientation": {
+      "x": -0.35344682128812926,
+      "y": 0.855718392397914,
+      "z": 0.27512358850380514,
+      "w": -0.25909146740492195
+    }
+  },
+  {
+    "timestamp": 1766210055.836081,
+    "position": {
+      "x": -0.10014399649968275,
+      "y": 0.0007972831832994826,
+      "z": 0.005087581000318017
+    },
+    "orientation": {
+      "x": -0.3550170770885129,
+      "y": 0.8545900138054963,
+      "z": 0.27596644799837766,
+      "w": -0.2597716359778517
+    }
+  },
+  {
+    "timestamp": 1766210055.968771,
+    "position": {
+      "x": -0.09989457464152673,
+      "y": 0.00040864399091056214,
+      "z": 0.004882888378436048
+    },
+    "orientation": {
+      "x": -0.35460262158515243,
+      "y": 0.8543907809101574,
+      "z": 0.2764207135919478,
+      "w": -0.26050904659528995
+    }
+  },
+  {
+    "timestamp": 1766210056.101461,
+    "position": {
+      "x": -0.09953168824248926,
+      "y": -0.00028792971915857224,
+      "z": 0.005496101571935669
+    },
+    "orientation": {
+      "x": -0.35364506943700635,
+      "y": 0.8545160549298048,
+      "z": 0.2788596050957118,
+      "w": -0.258794894416334
+    }
+  },
+  {
+    "timestamp": 1766210056.2341511,
+    "position": {
+      "x": -0.09815381147728838,
+      "y": -0.003875828869641884,
+      "z": 0.006546203077516272
+    },
+    "orientation": {
+      "x": -0.35191383718576197,
+      "y": 0.858843735476778,
+      "z": 0.2685311967066736,
+      "w": -0.25775004485890807
+    }
+  },
+  {
+    "timestamp": 1766210056.366841,
+    "position": {
+      "x": -0.09855201564482602,
+      "y": -0.006339613205023881,
+      "z": 0.007508566417521179
+    },
+    "orientation": {
+      "x": -0.34667897281376875,
+      "y": 0.8594098583849353,
+      "z": 0.2759801716036383,
+      "w": -0.2550751457927682
+    }
+  },
+  {
+    "timestamp": 1766210056.499531,
+    "position": {
+      "x": -0.09729622438323265,
+      "y": -0.010390084455607046,
+      "z": 0.009531131128356643
+    },
+    "orientation": {
+      "x": -0.3393548049172945,
+      "y": 0.8607462495327848,
+      "z": 0.2852981755540613,
+      "w": -0.2501182946533782
+    }
+  },
+  {
+    "timestamp": 1766210056.632221,
+    "position": {
+      "x": -0.09656653959701361,
+      "y": -0.01425227008516683,
+      "z": 0.011711986995109225
+    },
+    "orientation": {
+      "x": -0.33391423289066247,
+      "y": 0.8637578927590526,
+      "z": 0.2873393066082936,
+      "w": -0.24466244224920675
+    }
+  },
+  {
+    "timestamp": 1766210056.764911,
+    "position": {
+      "x": -0.09626447537874122,
+      "y": -0.01894624669273802,
+      "z": 0.014605982058341335
+    },
+    "orientation": {
+      "x": -0.32610658628512906,
+      "y": 0.8657584608928991,
+      "z": 0.2966774585044669,
+      "w": -0.23685283909877133
+    }
+  },
+  {
+    "timestamp": 1766210056.8976011,
+    "position": {
+      "x": -0.0952964041477157,
+      "y": -0.0223187426167289,
+      "z": 0.016544883113495612
+    },
+    "orientation": {
+      "x": -0.3194362063518837,
+      "y": 0.8667335790791828,
+      "z": 0.30581825808352336,
+      "w": -0.23066990699019793
+    }
+  },
+  {
+    "timestamp": 1766210057.030292,
+    "position": {
+      "x": -0.0936179509479631,
+      "y": -0.0248267611709493,
+      "z": 0.017425663839096092
+    },
+    "orientation": {
+      "x": -0.31545532719808866,
+      "y": 0.8674823993396202,
+      "z": 0.31046526580104017,
+      "w": -0.227098089180451
+    }
+  },
+  {
+    "timestamp": 1766210057.162982,
+    "position": {
+      "x": -0.09310457838238625,
+      "y": -0.024036314268312937,
+      "z": 0.01663959350699791
+    },
+    "orientation": {
+      "x": -0.3151462572580987,
+      "y": 0.8662861338291905,
+      "z": 0.3139262345153289,
+      "w": -0.22733563327052989
+    }
+  },
+  {
+    "timestamp": 1766210057.295672,
+    "position": {
+      "x": -0.0927764861380479,
+      "y": -0.022063633339169685,
+      "z": 0.014686469015988732
+    },
+    "orientation": {
+      "x": -0.3189575978463702,
+      "y": 0.8641947364363812,
+      "z": 0.3149031844912557,
+      "w": -0.22862522321256018
+    }
+  },
+  {
+    "timestamp": 1766210057.4283621,
+    "position": {
+      "x": -0.09213312760039782,
+      "y": -0.020101598508919565,
+      "z": 0.012395845565802657
+    },
+    "orientation": {
+      "x": -0.32064154600691,
+      "y": 0.8620524230698138,
+      "z": 0.31626571777493256,
+      "w": -0.23244486360009836
+    }
+  },
+  {
+    "timestamp": 1766210057.561052,
+    "position": {
+      "x": -0.09273500207152091,
+      "y": -0.019253491352868107,
+      "z": 0.011938967121831415
+    },
+    "orientation": {
+      "x": -0.3227536093026694,
+      "y": 0.861628690824507,
+      "z": 0.31364129408072366,
+      "w": -0.23463854218247043
+    }
+  },
+  {
+    "timestamp": 1766210057.693742,
+    "position": {
+      "x": -0.09250662742428323,
+      "y": -0.01843456806220009,
+      "z": 0.011476667484581052
+    },
+    "orientation": {
+      "x": -0.32286347362317236,
+      "y": 0.8620586478250155,
+      "z": 0.310757898247904,
+      "w": -0.23673528209084171
+    }
+  },
+  {
+    "timestamp": 1766210057.826432,
+    "position": {
+      "x": -0.09278638435029174,
+      "y": -0.01723781968047418,
+      "z": 0.010925448252377554
+    },
+    "orientation": {
+      "x": -0.3267096347351311,
+      "y": 0.8610766059153009,
+      "z": 0.3086640106963792,
+      "w": -0.237769682292441
+    }
+  },
+  {
+    "timestamp": 1766210057.959122,
+    "position": {
+      "x": -0.092645968951554,
+      "y": -0.01588076960560348,
+      "z": 0.009845667415345857
+    },
+    "orientation": {
+      "x": -0.3271447898843714,
+      "y": 0.8598646562404506,
+      "z": 0.30936642864051184,
+      "w": -0.24062724748086442
+    }
+  },
+  {
+    "timestamp": 1766210058.0918121,
+    "position": {
+      "x": -0.0928502747609864,
+      "y": -0.014606223301990788,
+      "z": 0.009309851742765399
+    },
+    "orientation": {
+      "x": -0.33164643302766716,
+      "y": 0.8599609900975552,
+      "z": 0.30291706655918643,
+      "w": -0.24232001518165003
+    }
+  },
+  {
+    "timestamp": 1766210058.224502,
+    "position": {
+      "x": -0.09362775563889536,
+      "y": -0.012824080067176058,
+      "z": 0.008951514566985577
+    },
+    "orientation": {
+      "x": -0.33478259672912103,
+      "y": 0.8592465208184821,
+      "z": 0.3003370416044462,
+      "w": -0.24374923759661263
+    }
+  },
+  {
+    "timestamp": 1766210058.357193,
+    "position": {
+      "x": -0.09369002643724036,
+      "y": -0.010736160175188483,
+      "z": 0.007404881718623385
+    },
+    "orientation": {
+      "x": -0.33793437194163356,
+      "y": 0.8588537021243222,
+      "z": 0.2944517229506066,
+      "w": -0.24792914604616115
+    }
+  },
+  {
+    "timestamp": 1766210058.489883,
+    "position": {
+      "x": -0.09527685921855156,
+      "y": -0.00767176726356758,
+      "z": 0.005864539087943113
+    },
+    "orientation": {
+      "x": -0.34314977159891785,
+      "y": 0.8567498004245906,
+      "z": 0.29095092389510485,
+      "w": -0.2521419711365387
+    }
+  },
+  {
+    "timestamp": 1766210058.6225731,
+    "position": {
+      "x": -0.0959523269081462,
+      "y": -0.006047766201326035,
+      "z": 0.005570433090554758
+    },
+    "orientation": {
+      "x": -0.3448407912641557,
+      "y": 0.8553166003592254,
+      "z": 0.2919655983018266,
+      "w": -0.2535240249729884
+    }
+  },
+  {
+    "timestamp": 1766210058.755263,
+    "position": {
+      "x": -0.09568609661249597,
+      "y": -0.002744336658722063,
+      "z": 0.003991158910685896
+    },
+    "orientation": {
+      "x": -0.35001725373100767,
+      "y": 0.8540508447383522,
+      "z": 0.28786495067260015,
+      "w": -0.25537980904247626
+    }
+  }
+]

recorded_tac02_pose/episode_106/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 112,
+  "start_time": "2025-12-20T13:54:22.933541",
+  "ros_start_time": 1766210062.9335613,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:54:27.097083",
+  "ros_end_time": 1766210067.097091,
+  "total_tactile_frames": 823,
+  "total_pose_frames": 31
+}

recorded_tac02_pose/episode_106/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_114/pose_data.json ADDED Viewed

	@@ -0,0 +1,394 @@

+[
+  {
+    "timestamp": 1766210126.825288,
+    "position": {
+      "x": -0.10519961827612823,
+      "y": 0.025222430640136656,
+      "z": 0.0021316726253375884
+    },
+    "orientation": {
+      "x": -0.35687117261286044,
+      "y": 0.7593533215557972,
+      "z": 0.47900407470887796,
+      "w": -0.2580321600351238
+    }
+  },
+  {
+    "timestamp": 1766210126.957978,
+    "position": {
+      "x": -0.10406864732342552,
+      "y": 0.02619128274342898,
+      "z": 0.0013644086444925818
+    },
+    "orientation": {
+      "x": -0.35989572276508874,
+      "y": 0.7623543964665381,
+      "z": 0.47150720418644493,
+      "w": -0.25878910201903194
+    }
+  },
+  {
+    "timestamp": 1766210127.0906692,
+    "position": {
+      "x": -0.1040050063348733,
+      "y": 0.024592401492472077,
+      "z": 0.0013948968543130574
+    },
+    "orientation": {
+      "x": -0.358946904834529,
+      "y": 0.7659212699118848,
+      "z": 0.4668609763423731,
+      "w": -0.2579972026494147
+    }
+  },
+  {
+    "timestamp": 1766210127.223359,
+    "position": {
+      "x": -0.10170625188275317,
+      "y": 0.024145663713444634,
+      "z": 0.0001619426468383034
+    },
+    "orientation": {
+      "x": -0.3613021474252533,
+      "y": 0.771050087919312,
+      "z": 0.4553992668746911,
+      "w": -0.2599115771094387
+    }
+  },
+  {
+    "timestamp": 1766210127.356049,
+    "position": {
+      "x": -0.10380121861068398,
+      "y": 0.022547927005647395,
+      "z": 0.001964055463313394
+    },
+    "orientation": {
+      "x": -0.3574236521152336,
+      "y": 0.7689530118905127,
+      "z": 0.4641205007494048,
+      "w": -0.25603077783196154
+    }
+  },
+  {
+    "timestamp": 1766210127.488739,
+    "position": {
+      "x": -0.10252179227124855,
+      "y": 0.021086649456396447,
+      "z": 0.002187851747797065
+    },
+    "orientation": {
+      "x": -0.35516497085671805,
+      "y": 0.7719405198626178,
+      "z": 0.46253997717630563,
+      "w": -0.25302657327703876
+    }
+  },
+  {
+    "timestamp": 1766210127.621429,
+    "position": {
+      "x": -0.10192068834798357,
+      "y": 0.01665725748276277,
+      "z": 0.0038576933817499603
+    },
+    "orientation": {
+      "x": -0.3483215980537065,
+      "y": 0.7711044560844798,
+      "z": 0.471696227794106,
+      "w": -0.2481383703113679
+    }
+  },
+  {
+    "timestamp": 1766210127.754119,
+    "position": {
+      "x": -0.10075538241278473,
+      "y": 0.015353613866346483,
+      "z": 0.0032061118223402907
+    },
+    "orientation": {
+      "x": -0.34587674171652066,
+      "y": 0.774272231291326,
+      "z": 0.46849144677051424,
+      "w": -0.24776512202807108
+    }
+  },
+  {
+    "timestamp": 1766210127.886809,
+    "position": {
+      "x": -0.09968719568700948,
+      "y": 0.013688603236437225,
+      "z": 0.003410697045453895
+    },
+    "orientation": {
+      "x": -0.34220378614423697,
+      "y": 0.7714365633499499,
+      "z": 0.47742424989462406,
+      "w": -0.2446390874082133
+    }
+  },
+  {
+    "timestamp": 1766210128.019499,
+    "position": {
+      "x": -0.0979840988481828,
+      "y": 0.012500373588360383,
+      "z": 0.002435873575351119
+    },
+    "orientation": {
+      "x": -0.34019540233697665,
+      "y": 0.7752006444050078,
+      "z": 0.4731176507264987,
+      "w": -0.2439072317785638
+    }
+  },
+  {
+    "timestamp": 1766210128.152189,
+    "position": {
+      "x": -0.0987206288728662,
+      "y": 0.009998026364071946,
+      "z": 0.0032266159514924148
+    },
+    "orientation": {
+      "x": -0.3345079077382131,
+      "y": 0.7746130679794391,
+      "z": 0.4800129700311522,
+      "w": -0.24013871653266636
+    }
+  },
+  {
+    "timestamp": 1766210128.28488,
+    "position": {
+      "x": -0.09668786642406718,
+      "y": 0.005312911686563074,
+      "z": 0.004135431174515994
+    },
+    "orientation": {
+      "x": -0.3257569344445002,
+      "y": 0.7750766357267451,
+      "z": 0.4877810258093591,
+      "w": -0.234964463849752
+    }
+  },
+  {
+    "timestamp": 1766210128.41757,
+    "position": {
+      "x": -0.09439888565266091,
+      "y": 0.0007310963990542207,
+      "z": 0.004425807601841691
+    },
+    "orientation": {
+      "x": -0.31589506832691167,
+      "y": 0.7753344499756915,
+      "z": 0.49635425558732565,
+      "w": -0.22956317093118292
+    }
+  },
+  {
+    "timestamp": 1766210128.55026,
+    "position": {
+      "x": -0.09204627109408889,
+      "y": -0.0027669713427594805,
+      "z": 0.004058851986831577
+    },
+    "orientation": {
+      "x": -0.3070156897476318,
+      "y": 0.7722664371739981,
+      "z": 0.5085602214290567,
+      "w": -0.2251941771969113
+    }
+  },
+  {
+    "timestamp": 1766210128.68295,
+    "position": {
+      "x": -0.09119992575755678,
+      "y": -0.005723240821317227,
+      "z": 0.0035107091253553796
+    },
+    "orientation": {
+      "x": -0.29959462450010516,
+      "y": 0.7720596377752927,
+      "z": 0.5151146191880482,
+      "w": -0.22096132192688556
+    }
+  },
+  {
+    "timestamp": 1766210128.81564,
+    "position": {
+      "x": -0.09019362206243917,
+      "y": -0.009779689358083446,
+      "z": 0.004021938738994452
+    },
+    "orientation": {
+      "x": -0.29018251878450924,
+      "y": 0.7692047860637229,
+      "z": 0.5274394320264614,
+      "w": -0.21430293612581222
+    }
+  },
+  {
+    "timestamp": 1766210128.94833,
+    "position": {
+      "x": -0.08826949311915153,
+      "y": -0.012452923089282253,
+      "z": 0.0036024797559859045
+    },
+    "orientation": {
+      "x": -0.2830961016283784,
+      "y": 0.767383770804133,
+      "z": 0.5352881961931233,
+      "w": -0.21082052216413164
+    }
+  },
+  {
+    "timestamp": 1766210129.08102,
+    "position": {
+      "x": -0.08819151129216693,
+      "y": -0.009706655119382152,
+      "z": 0.0029378670667418033
+    },
+    "orientation": {
+      "x": -0.282902941854376,
+      "y": 0.7618869531796633,
+      "z": 0.5432119544017157,
+      "w": -0.21074859112178565
+    }
+  },
+  {
+    "timestamp": 1766210129.21371,
+    "position": {
+      "x": -0.093550301387412,
+      "y": -0.004120428770271967,
+      "z": 0.004978406196347568
+    },
+    "orientation": {
+      "x": -0.2921897103770435,
+      "y": 0.7525703320571893,
+      "z": 0.5505409251691341,
+      "w": -0.21252707632446494
+    }
+  },
+  {
+    "timestamp": 1766210129.3464,
+    "position": {
+      "x": -0.0971287893751693,
+      "y": 0.003536153057650232,
+      "z": 0.00656394322936539
+    },
+    "orientation": {
+      "x": -0.30780824205480917,
+      "y": 0.7459192945754749,
+      "z": 0.5495335914475449,
+      "w": -0.2164978613610691
+    }
+  },
+  {
+    "timestamp": 1766210129.47909,
+    "position": {
+      "x": -0.10069880499515424,
+      "y": 0.008697877735694706,
+      "z": 0.009096018661429506
+    },
+    "orientation": {
+      "x": -0.3178925157726432,
+      "y": 0.7420032621289704,
+      "z": 0.54838039292275,
+      "w": -0.21829899693676158
+    }
+  },
+  {
+    "timestamp": 1766210129.6117811,
+    "position": {
+      "x": -0.10203960918164062,
+      "y": 0.012439064562373925,
+      "z": 0.010289129737105107
+    },
+    "orientation": {
+      "x": -0.32468083212145943,
+      "y": 0.7360381665548069,
+      "z": 0.5517340472297837,
+      "w": -0.2200448039718222
+    }
+  },
+  {
+    "timestamp": 1766210129.744471,
+    "position": {
+      "x": -0.10229726147886442,
+      "y": 0.013614224885313109,
+      "z": 0.010378715614505638
+    },
+    "orientation": {
+      "x": -0.32654787365398175,
+      "y": 0.733747949445939,
+      "z": 0.5534155789431647,
+      "w": -0.2207071133401565
+    }
+  },
+  {
+    "timestamp": 1766210129.877161,
+    "position": {
+      "x": -0.10167865246219598,
+      "y": 0.015044880796081309,
+      "z": 0.007680982363725317
+    },
+    "orientation": {
+      "x": -0.32604684354789837,
+      "y": 0.7330778487290317,
+      "z": 0.5528604465865233,
+      "w": -0.22502366567856202
+    }
+  },
+  {
+    "timestamp": 1766210130.009851,
+    "position": {
+      "x": -0.10039776190650182,
+      "y": 0.01597984375444418,
+      "z": 0.004169262302241766
+    },
+    "orientation": {
+      "x": -0.3240389504925882,
+      "y": 0.7322630589162102,
+      "z": 0.5520693061097958,
+      "w": -0.23239847753758086
+    }
+  },
+  {
+    "timestamp": 1766210130.142541,
+    "position": {
+      "x": -0.09904489796478527,
+      "y": 0.01752511103026011,
+      "z": -0.00020332180540158507
+    },
+    "orientation": {
+      "x": -0.32441547477601224,
+      "y": 0.7344257013169322,
+      "z": 0.5456586508299204,
+      "w": -0.24006275376546424
+    }
+  },
+  {
+    "timestamp": 1766210130.2752311,
+    "position": {
+      "x": -0.0981183254606002,
+      "y": 0.019333197825525117,
+      "z": -0.0036256579396573563
+    },
+    "orientation": {
+      "x": -0.327344749814938,
+      "y": 0.7401024126187915,
+      "z": 0.5322650571994479,
+      "w": -0.24857140320018345
+    }
+  },
+  {
+    "timestamp": 1766210130.407921,
+    "position": {
+      "x": -0.09611323535781399,
+      "y": 0.019266208329425424,
+      "z": -0.004442331837707439
+    },
+    "orientation": {
+      "x": -0.3291024444350082,
+      "y": 0.7428978175207758,
+      "z": 0.5271737090841292,
+      "w": -0.248761520819142
+    }
+  }
+]

recorded_tac02_pose/episode_114/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 121,
+  "start_time": "2025-12-20T13:55:35.354130",
+  "ros_start_time": 1766210135.354149,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:55:39.061680",
+  "ros_end_time": 1766210139.0616863,
+  "total_tactile_frames": 734,
+  "total_pose_frames": 28
+}

recorded_tac02_pose/episode_114/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_136/pose_data.json ADDED Viewed

	@@ -0,0 +1,408 @@

+[
+  {
+    "timestamp": 1766210314.415929,
+    "position": {
+      "x": -0.09805956205597824,
+      "y": -0.023303282854701846,
+      "z": 0.026053540621275018
+    },
+    "orientation": {
+      "x": -0.3250792101546603,
+      "y": 0.9101329178425798,
+      "z": 0.05646649529603464,
+      "w": -0.2505855420680869
+    }
+  },
+  {
+    "timestamp": 1766210314.548619,
+    "position": {
+      "x": -0.09602645975560878,
+      "y": -0.024346987429900234,
+      "z": 0.026805390556445333
+    },
+    "orientation": {
+      "x": -0.32067318151253627,
+      "y": 0.9123469820438714,
+      "z": 0.030959812320029693,
+      "w": -0.25265230067263633
+    }
+  },
+  {
+    "timestamp": 1766210314.681309,
+    "position": {
+      "x": -0.09638142325777113,
+      "y": -0.024149799640105996,
+      "z": 0.02721691119514033
+    },
+    "orientation": {
+      "x": -0.32144487008492767,
+      "y": 0.9122526186358888,
+      "z": 0.02985476874018176,
+      "w": -0.25214489499396514
+    }
+  },
+  {
+    "timestamp": 1766210314.813999,
+    "position": {
+      "x": -0.09683245937568444,
+      "y": -0.022909911613733583,
+      "z": 0.02690029539951945
+    },
+    "orientation": {
+      "x": -0.32330530438073724,
+      "y": 0.9109160842321683,
+      "z": 0.04650858107226336,
+      "w": -0.2520764160588149
+    }
+  },
+  {
+    "timestamp": 1766210314.9466891,
+    "position": {
+      "x": -0.09775394789089839,
+      "y": -0.022836835757450942,
+      "z": 0.025396526624613225
+    },
+    "orientation": {
+      "x": -0.3260388272032818,
+      "y": 0.9090473064678648,
+      "z": 0.0690736493780916,
+      "w": -0.2501209881657691
+    }
+  },
+  {
+    "timestamp": 1766210315.079379,
+    "position": {
+      "x": -0.09805926733486742,
+      "y": -0.02083844867164253,
+      "z": 0.022432543809711464
+    },
+    "orientation": {
+      "x": -0.3295055354652555,
+      "y": 0.9031075179042144,
+      "z": 0.11164996456759395,
+      "w": -0.25170855888248816
+    }
+  },
+  {
+    "timestamp": 1766210315.212069,
+    "position": {
+      "x": -0.0986368215422885,
+      "y": -0.018657748511855643,
+      "z": 0.019936433343745216
+    },
+    "orientation": {
+      "x": -0.3338237287950904,
+      "y": 0.8955590004589489,
+      "z": 0.15693594768164304,
+      "w": -0.24881097868778798
+    }
+  },
+  {
+    "timestamp": 1766210315.344759,
+    "position": {
+      "x": -0.09943394403982189,
+      "y": -0.01533504921637463,
+      "z": 0.016914112224173883
+    },
+    "orientation": {
+      "x": -0.33832327818927216,
+      "y": 0.882939801054513,
+      "z": 0.21135910013970063,
+      "w": -0.24755201056993525
+    }
+  },
+  {
+    "timestamp": 1766210315.477449,
+    "position": {
+      "x": -0.0981463748747616,
+      "y": -0.011020231571354178,
+      "z": 0.012992449650765153
+    },
+    "orientation": {
+      "x": -0.33940073755366246,
+      "y": 0.8656512366209975,
+      "z": 0.2737479310516881,
+      "w": -0.24600232952044934
+    }
+  },
+  {
+    "timestamp": 1766210315.6101391,
+    "position": {
+      "x": -0.09839132048802629,
+      "y": -0.006597609857809467,
+      "z": 0.010730426030182386
+    },
+    "orientation": {
+      "x": -0.34045430218276657,
+      "y": 0.8455737742309237,
+      "z": 0.33223070930067256,
+      "w": -0.24231924450131534
+    }
+  },
+  {
+    "timestamp": 1766210315.74283,
+    "position": {
+      "x": -0.0957226137938808,
+      "y": 0.0005539176585493133,
+      "z": 0.007200273691894063
+    },
+    "orientation": {
+      "x": -0.3368588585973175,
+      "y": 0.811778210128644,
+      "z": 0.4132780291180922,
+      "w": -0.2382089788255527
+    }
+  },
+  {
+    "timestamp": 1766210315.87552,
+    "position": {
+      "x": -0.09598515509748654,
+      "y": 0.008268422219163407,
+      "z": 0.006388864700545699
+    },
+    "orientation": {
+      "x": -0.3267814094480938,
+      "y": 0.765653471212624,
+      "z": 0.504202154580262,
+      "w": -0.2297147356522833
+    }
+  },
+  {
+    "timestamp": 1766210316.00821,
+    "position": {
+      "x": -0.09671459606062482,
+      "y": 0.012249858275211772,
+      "z": 0.006436084299647607
+    },
+    "orientation": {
+      "x": -0.3229562354488062,
+      "y": 0.7405245885590388,
+      "z": 0.5444360212321545,
+      "w": -0.22563692629776408
+    }
+  },
+  {
+    "timestamp": 1766210316.1409001,
+    "position": {
+      "x": -0.09771710540706927,
+      "y": 0.009826521792865694,
+      "z": 0.006971281959788675
+    },
+    "orientation": {
+      "x": -0.3243601504705346,
+      "y": 0.7530433978354019,
+      "z": 0.5254789355310071,
+      "w": -0.2271299673676833
+    }
+  },
+  {
+    "timestamp": 1766210316.27359,
+    "position": {
+      "x": -0.09680250215519481,
+      "y": 0.003322379673279266,
+      "z": 0.007195260067421758
+    },
+    "orientation": {
+      "x": -0.33298877752296135,
+      "y": 0.7931034830579073,
+      "z": 0.4528378594645978,
+      "w": -0.2346128987091296
+    }
+  },
+  {
+    "timestamp": 1766210316.40628,
+    "position": {
+      "x": -0.09689105084589833,
+      "y": -0.003935332898052604,
+      "z": 0.00899568388533907
+    },
+    "orientation": {
+      "x": -0.338665856625338,
+      "y": 0.8335169112457571,
+      "z": 0.3637613450135643,
+      "w": -0.2413144838120604
+    }
+  },
+  {
+    "timestamp": 1766210316.53897,
+    "position": {
+      "x": -0.09735561335668022,
+      "y": -0.010360183480922824,
+      "z": 0.01156124260675609
+    },
+    "orientation": {
+      "x": -0.3387313397567873,
+      "y": 0.8601652902188075,
+      "z": 0.29113993733955623,
+      "w": -0.2461996950755335
+    }
+  },
+  {
+    "timestamp": 1766210316.67166,
+    "position": {
+      "x": -0.09850740550400897,
+      "y": -0.015078995662701086,
+      "z": 0.015387502583351642
+    },
+    "orientation": {
+      "x": -0.33672546800673636,
+      "y": 0.879821732842032,
+      "z": 0.22563722894216828,
+      "w": -0.24822876249497752
+    }
+  },
+  {
+    "timestamp": 1766210316.8043501,
+    "position": {
+      "x": -0.09823903319888619,
+      "y": -0.018971048673472088,
+      "z": 0.019240850635692877
+    },
+    "orientation": {
+      "x": -0.33204665558199215,
+      "y": 0.8947170912062595,
+      "z": 0.1641346268079563,
+      "w": -0.24957197259074718
+    }
+  },
+  {
+    "timestamp": 1766210316.937041,
+    "position": {
+      "x": -0.09826146841990158,
+      "y": -0.02116162558427219,
+      "z": 0.022593653774127254
+    },
+    "orientation": {
+      "x": -0.32796352256221356,
+      "y": 0.904061256429547,
+      "z": 0.10877033409336688,
+      "w": -0.2515595096847472
+    }
+  },
+  {
+    "timestamp": 1766210317.069731,
+    "position": {
+      "x": -0.09678176669607028,
+      "y": -0.023150986717379363,
+      "z": 0.025422237848758633
+    },
+    "orientation": {
+      "x": -0.3225162979405383,
+      "y": 0.9106354176137625,
+      "z": 0.05824694813942233,
+      "w": -0.25166181033796425
+    }
+  },
+  {
+    "timestamp": 1766210317.202421,
+    "position": {
+      "x": -0.09552036277982215,
+      "y": -0.02379540752796705,
+      "z": 0.028840023637503723
+    },
+    "orientation": {
+      "x": -0.31748467990479884,
+      "y": 0.9137305211458944,
+      "z": 0.003420583390993861,
+      "w": -0.25355139984126485
+    }
+  },
+  {
+    "timestamp": 1766210317.3351111,
+    "position": {
+      "x": -0.09462691112828117,
+      "y": -0.024693604887283553,
+      "z": 0.030072878901134394
+    },
+    "orientation": {
+      "x": -0.3153672434333757,
+      "y": 0.9146337091562685,
+      "z": -0.018884828888628784,
+      "w": -0.2522539258012203
+    }
+  },
+  {
+    "timestamp": 1766210317.467801,
+    "position": {
+      "x": -0.09501743444394273,
+      "y": -0.02443252764148121,
+      "z": 0.02831652742241112
+    },
+    "orientation": {
+      "x": -0.31731925223657714,
+      "y": 0.9138510711675725,
+      "z": 0.006122640127513572,
+      "w": -0.2532730249429827
+    }
+  },
+  {
+    "timestamp": 1766210317.600491,
+    "position": {
+      "x": -0.09697325333295323,
+      "y": -0.02283894176702006,
+      "z": 0.025916956081503892
+    },
+    "orientation": {
+      "x": -0.3247101447737512,
+      "y": 0.9099817415748852,
+      "z": 0.05463785575006044,
+      "w": -0.2520143976053427
+    }
+  },
+  {
+    "timestamp": 1766210317.733181,
+    "position": {
+      "x": -0.09764284181377214,
+      "y": -0.020956918782135542,
+      "z": 0.02246916785330043
+    },
+    "orientation": {
+      "x": -0.33001186161598844,
+      "y": 0.9035553542799444,
+      "z": 0.10803148457565033,
+      "w": -0.2510161175804752
+    }
+  },
+  {
+    "timestamp": 1766210317.865871,
+    "position": {
+      "x": -0.09835024474788398,
+      "y": -0.018501837401170784,
+      "z": 0.019697068607825316
+    },
+    "orientation": {
+      "x": -0.3339237988842918,
+      "y": 0.8954074729373127,
+      "z": 0.15430625618922664,
+      "w": -0.2508583928186645
+    }
+  },
+  {
+    "timestamp": 1766210317.9985611,
+    "position": {
+      "x": -0.09847278804242918,
+      "y": -0.015642308073736753,
+      "z": 0.01731343188354037
+    },
+    "orientation": {
+      "x": -0.33806914143300054,
+      "y": 0.8859355937462295,
+      "z": 0.19783445977724123,
+      "w": -0.24837251431854668
+    }
+  },
+  {
+    "timestamp": 1766210318.131252,
+    "position": {
+      "x": -0.09792794960094411,
+      "y": -0.01376794808932369,
+      "z": 0.01502789609071184
+    },
+    "orientation": {
+      "x": -0.33883716591199764,
+      "y": 0.8778871646810411,
+      "z": 0.23158639210819837,
+      "w": -0.2467209842622146
+    }
+  }
+]

recorded_tac02_pose/episode_136/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 145,
+  "start_time": "2025-12-20T13:58:43.612084",
+  "ros_start_time": 1766210323.612099,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:58:47.607928",
+  "ros_end_time": 1766210327.6079333,
+  "total_tactile_frames": 790,
+  "total_pose_frames": 29
+}

recorded_tac02_pose/episode_136/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_150/pose_data.json ADDED Viewed

	@@ -0,0 +1,464 @@

+[
+  {
+    "timestamp": 1766210473.478195,
+    "position": {
+      "x": -0.09843205276180067,
+      "y": -0.01652937843055092,
+      "z": 0.010625064686361374
+    },
+    "orientation": {
+      "x": -0.3289601822576504,
+      "y": 0.8787079862767455,
+      "z": 0.23174305521316008,
+      "w": -0.2568124407090716
+    }
+  },
+  {
+    "timestamp": 1766210473.610886,
+    "position": {
+      "x": -0.09947777111980599,
+      "y": -0.01604943266794201,
+      "z": 0.010950887252490021
+    },
+    "orientation": {
+      "x": -0.32890905041616425,
+      "y": 0.8772163443684083,
+      "z": 0.23720110702936423,
+      "w": -0.2569940788253827
+    }
+  },
+  {
+    "timestamp": 1766210473.743576,
+    "position": {
+      "x": -0.10042865471958975,
+      "y": -0.01618288814606026,
+      "z": 0.011520453293596633
+    },
+    "orientation": {
+      "x": -0.3290391153121288,
+      "y": 0.8782440947511198,
+      "z": 0.23477755821347737,
+      "w": -0.2555387813790996
+    }
+  },
+  {
+    "timestamp": 1766210473.876266,
+    "position": {
+      "x": -0.098760434166651,
+      "y": -0.016209133124628836,
+      "z": 0.010852891307875895
+    },
+    "orientation": {
+      "x": -0.33012448228089764,
+      "y": 0.877228557993412,
+      "z": 0.23728399001235773,
+      "w": -0.2553119490415274
+    }
+  },
+  {
+    "timestamp": 1766210474.008956,
+    "position": {
+      "x": -0.10055302099912838,
+      "y": -0.012668057858987405,
+      "z": 0.010780138971890632
+    },
+    "orientation": {
+      "x": -0.3296404185109305,
+      "y": 0.867916321280021,
+      "z": 0.27082303938355096,
+      "w": -0.2543881582911233
+    }
+  },
+  {
+    "timestamp": 1766210474.1416461,
+    "position": {
+      "x": -0.10145201878005883,
+      "y": -0.0091197854565149,
+      "z": 0.009786820303290394
+    },
+    "orientation": {
+      "x": -0.3321670545435393,
+      "y": 0.8527431998992662,
+      "z": 0.31642413669318803,
+      "w": -0.24973956158246155
+    }
+  },
+  {
+    "timestamp": 1766210474.274336,
+    "position": {
+      "x": -0.1016329272984296,
+      "y": -0.004700446735033018,
+      "z": 0.00798422933694079
+    },
+    "orientation": {
+      "x": -0.3302638432161032,
+      "y": 0.8311903365318941,
+      "z": 0.3734226241783688,
+      "w": -0.24617871977867306
+    }
+  },
+  {
+    "timestamp": 1766210474.407026,
+    "position": {
+      "x": -0.10164120525729206,
+      "y": -0.0002488777848731749,
+      "z": 0.007118208850625515
+    },
+    "orientation": {
+      "x": -0.32992519872196724,
+      "y": 0.80995529926865,
+      "z": 0.4199270769417086,
+      "w": -0.2424521117377501
+    }
+  },
+  {
+    "timestamp": 1766210474.539716,
+    "position": {
+      "x": -0.1012282194790177,
+      "y": 0.0034048802813020362,
+      "z": 0.005952410279573883
+    },
+    "orientation": {
+      "x": -0.32538049817069226,
+      "y": 0.7885480977475544,
+      "z": 0.4635789890316842,
+      "w": -0.23961208207698378
+    }
+  },
+  {
+    "timestamp": 1766210474.672406,
+    "position": {
+      "x": -0.10153165893593397,
+      "y": 0.004313892825551308,
+      "z": 0.005821326489361678
+    },
+    "orientation": {
+      "x": -0.3249416718159203,
+      "y": 0.7822799570806047,
+      "z": 0.4750998696345736,
+      "w": -0.23818289724632385
+    }
+  },
+  {
+    "timestamp": 1766210474.805097,
+    "position": {
+      "x": -0.10158030249725547,
+      "y": 0.0032198723891775083,
+      "z": 0.0059255272981262735
+    },
+    "orientation": {
+      "x": -0.3247599208005392,
+      "y": 0.7888034065018048,
+      "z": 0.4630939399245933,
+      "w": -0.24054975065024095
+    }
+  },
+  {
+    "timestamp": 1766210474.937787,
+    "position": {
+      "x": -0.1011659818079147,
+      "y": -0.0005561526146141138,
+      "z": 0.006292956453961454
+    },
+    "orientation": {
+      "x": -0.3270456784089273,
+      "y": 0.8093234585585912,
+      "z": 0.4224695734900084,
+      "w": -0.2440412324505332
+    }
+  },
+  {
+    "timestamp": 1766210475.070477,
+    "position": {
+      "x": -0.10051563167074834,
+      "y": -0.007027935434844729,
+      "z": 0.007667293892299143
+    },
+    "orientation": {
+      "x": -0.33063007346036255,
+      "y": 0.8400936886412849,
+      "z": 0.35056316053611397,
+      "w": -0.24906187846317623
+    }
+  },
+  {
+    "timestamp": 1766210475.203167,
+    "position": {
+      "x": -0.10104038307381824,
+      "y": -0.012547818224408452,
+      "z": 0.010096442878301262
+    },
+    "orientation": {
+      "x": -0.3294012347915927,
+      "y": 0.863571945862717,
+      "z": 0.28543550876404744,
+      "w": -0.25350520936119614
+    }
+  },
+  {
+    "timestamp": 1766210475.3358572,
+    "position": {
+      "x": -0.10049373827455224,
+      "y": -0.017454637400125324,
+      "z": 0.012834951190487678
+    },
+    "orientation": {
+      "x": -0.3253293430648642,
+      "y": 0.8824860320907458,
+      "z": 0.22182995022490473,
+      "w": -0.2572366515272097
+    }
+  },
+  {
+    "timestamp": 1766210475.468547,
+    "position": {
+      "x": -0.09878833847530458,
+      "y": -0.01983360367665319,
+      "z": 0.0144869836999547
+    },
+    "orientation": {
+      "x": -0.32387388065776984,
+      "y": 0.8921289682410023,
+      "z": 0.18032228526231853,
+      "w": -0.2582546938405884
+    }
+  },
+  {
+    "timestamp": 1766210475.601237,
+    "position": {
+      "x": -0.09870923927998718,
+      "y": -0.020849921548954334,
+      "z": 0.015516821953255988
+    },
+    "orientation": {
+      "x": -0.3224609079728892,
+      "y": 0.8957126223013494,
+      "z": 0.16268338749847033,
+      "w": -0.2593298604313867
+    }
+  },
+  {
+    "timestamp": 1766210475.733927,
+    "position": {
+      "x": -0.09905195799367345,
+      "y": -0.02063690260614745,
+      "z": 0.015174181704142933
+    },
+    "orientation": {
+      "x": -0.32369360691409743,
+      "y": 0.8943445756505976,
+      "z": 0.16826312533088908,
+      "w": -0.25895511097712626
+    }
+  },
+  {
+    "timestamp": 1766210475.866617,
+    "position": {
+      "x": -0.09893518862878092,
+      "y": -0.019181356686865103,
+      "z": 0.013538892186743284
+    },
+    "orientation": {
+      "x": -0.32443244091649165,
+      "y": 0.8905912007774994,
+      "z": 0.18700806360172967,
+      "w": -0.25810635119382536
+    }
+  },
+  {
+    "timestamp": 1766210475.999308,
+    "position": {
+      "x": -0.09995301313207375,
+      "y": -0.015282954813109761,
+      "z": 0.011404976561430524
+    },
+    "orientation": {
+      "x": -0.3287742648601233,
+      "y": 0.877829396897426,
+      "z": 0.23636002013895796,
+      "w": -0.25584560498139947
+    }
+  },
+  {
+    "timestamp": 1766210476.131998,
+    "position": {
+      "x": -0.09841268140363701,
+      "y": -0.010244936076479583,
+      "z": 0.007684736030075329
+    },
+    "orientation": {
+      "x": -0.33289656530955747,
+      "y": 0.8574701774827594,
+      "z": 0.30057225528225784,
+      "w": -0.2521529117169221
+    }
+  },
+  {
+    "timestamp": 1766210476.264688,
+    "position": {
+      "x": -0.09715795098033295,
+      "y": -0.003581886724241576,
+      "z": 0.004738859154178834
+    },
+    "orientation": {
+      "x": -0.3316451373928825,
+      "y": 0.8280812436561474,
+      "z": 0.37830698074292607,
+      "w": -0.24733941268976037
+    }
+  },
+  {
+    "timestamp": 1766210476.397378,
+    "position": {
+      "x": -0.09783128307655167,
+      "y": 0.0016143320800972721,
+      "z": 0.003890964955608589
+    },
+    "orientation": {
+      "x": -0.32795358718844786,
+      "y": 0.7980418941269947,
+      "z": 0.44363922161495684,
+      "w": -0.24240425102151775
+    }
+  },
+  {
+    "timestamp": 1766210476.530068,
+    "position": {
+      "x": -0.09472170482938208,
+      "y": 0.007595286211423358,
+      "z": 0.0013957593039892607
+    },
+    "orientation": {
+      "x": -0.3180465445451034,
+      "y": 0.7625531980890865,
+      "z": 0.5103134512874662,
+      "w": -0.23861935592508135
+    }
+  },
+  {
+    "timestamp": 1766210476.662758,
+    "position": {
+      "x": -0.09815273218094758,
+      "y": 0.009906515293557377,
+      "z": 0.0038187803001389076
+    },
+    "orientation": {
+      "x": -0.3155185542894231,
+      "y": 0.7452822207853186,
+      "z": 0.5390169006419642,
+      "w": -0.233373593413537
+    }
+  },
+  {
+    "timestamp": 1766210476.795448,
+    "position": {
+      "x": -0.09831762701627758,
+      "y": 0.009871664377572725,
+      "z": 0.003892470179187091
+    },
+    "orientation": {
+      "x": -0.31435894330510883,
+      "y": 0.7465692324914586,
+      "z": 0.5377526617856985,
+      "w": -0.23374111876947556
+    }
+  },
+  {
+    "timestamp": 1766210476.928138,
+    "position": {
+      "x": -0.09860551483060398,
+      "y": 0.008144562466288613,
+      "z": 0.003940485060519319
+    },
+    "orientation": {
+      "x": -0.3184763559486727,
+      "y": 0.758295119430649,
+      "z": 0.5179181946476392,
+      "w": -0.23520643316508663
+    }
+  },
+  {
+    "timestamp": 1766210477.060828,
+    "position": {
+      "x": -0.1001309086578597,
+      "y": 0.004108234191514418,
+      "z": 0.004798747795931549
+    },
+    "orientation": {
+      "x": -0.3220102758533853,
+      "y": 0.7815104742340083,
+      "z": 0.47848437387017306,
+      "w": -0.2379148269222216
+    }
+  },
+  {
+    "timestamp": 1766210477.193518,
+    "position": {
+      "x": -0.0998844791159583,
+      "y": -0.00017472053550168787,
+      "z": 0.005116942637248198
+    },
+    "orientation": {
+      "x": -0.3263458493747298,
+      "y": 0.8052844125217989,
+      "z": 0.43195622903826697,
+      "w": -0.24172136384760837
+    }
+  },
+  {
+    "timestamp": 1766210477.326209,
+    "position": {
+      "x": -0.09883441366628909,
+      "y": -0.004604181007890618,
+      "z": 0.0053880175891745236
+    },
+    "orientation": {
+      "x": -0.3285033909943562,
+      "y": 0.8282426010035535,
+      "z": 0.3805666109856808,
+      "w": -0.24752529283075492
+    }
+  },
+  {
+    "timestamp": 1766210477.458899,
+    "position": {
+      "x": -0.10008498882939401,
+      "y": -0.007763145859856546,
+      "z": 0.007124379245151274
+    },
+    "orientation": {
+      "x": -0.329843067149782,
+      "y": 0.8417670370702767,
+      "z": 0.34683908376285455,
+      "w": -0.2496686931309076
+    }
+  },
+  {
+    "timestamp": 1766210477.591589,
+    "position": {
+      "x": -0.09934519260343727,
+      "y": -0.011179034407000146,
+      "z": 0.007432521705332734
+    },
+    "orientation": {
+      "x": -0.3281673352659505,
+      "y": 0.8552983212471413,
+      "z": 0.3115484680663566,
+      "w": -0.2524054947535285
+    }
+  },
+  {
+    "timestamp": 1766210477.724279,
+    "position": {
+      "x": -0.09842188940195537,
+      "y": -0.012942798447144438,
+      "z": 0.007753796770550908
+    },
+    "orientation": {
+      "x": -0.3276183706985709,
+      "y": 0.8635025826352429,
+      "z": 0.2860392656288622,
+      "w": -0.25536450709051245
+    }
+  }
+]

recorded_tac02_pose/episode_150/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 160,
+  "start_time": "2025-12-20T14:01:23.290253",
+  "ros_start_time": 1766210483.2902665,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T14:01:27.739117",
+  "ros_end_time": 1766210487.739123,
+  "total_tactile_frames": 881,
+  "total_pose_frames": 33
+}

recorded_tac02_pose/episode_150/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_28/pose_data.json ADDED Viewed

	@@ -0,0 +1,478 @@

+[
+  {
+    "timestamp": 1766209332.608647,
+    "position": {
+      "x": -0.05253963179481835,
+      "y": 0.0013607255639426497,
+      "z": 0.021200410478091028
+    },
+    "orientation": {
+      "x": -0.3095672825576629,
+      "y": 0.7767600523671391,
+      "z": 0.5193300462948928,
+      "w": -0.17637522964353008
+    }
+  },
+  {
+    "timestamp": 1766209332.741337,
+    "position": {
+      "x": -0.05808765403122529,
+      "y": -0.0010058560529866561,
+      "z": 0.022580975198593006
+    },
+    "orientation": {
+      "x": -0.3075606930613637,
+      "y": 0.783332074595823,
+      "z": 0.5100809991835014,
+      "w": -0.17780510472137345
+    }
+  },
+  {
+    "timestamp": 1766209332.874027,
+    "position": {
+      "x": -0.05956580564159403,
+      "y": -0.001832606470490633,
+      "z": 0.022874509865546372
+    },
+    "orientation": {
+      "x": -0.3053802135204092,
+      "y": 0.7858924605196711,
+      "z": 0.507636713064591,
+      "w": -0.17725950817246636
+    }
+  },
+  {
+    "timestamp": 1766209333.006717,
+    "position": {
+      "x": -0.05548847882354968,
+      "y": -0.0011301965330220848,
+      "z": 0.022396604416038315
+    },
+    "orientation": {
+      "x": -0.3097714859576852,
+      "y": 0.7895827424358773,
+      "z": 0.4992715809437693,
+      "w": -0.17699889207821584
+    }
+  },
+  {
+    "timestamp": 1766209333.139407,
+    "position": {
+      "x": -0.05608715354471344,
+      "y": -0.0010311046663717127,
+      "z": 0.0223775219428628
+    },
+    "orientation": {
+      "x": -0.3090026736457993,
+      "y": 0.7878145447765535,
+      "z": 0.502449537934318,
+      "w": -0.17722881410157257
+    }
+  },
+  {
+    "timestamp": 1766209333.272097,
+    "position": {
+      "x": -0.05518290744056431,
+      "y": 0.0014215921156415928,
+      "z": 0.020769272977913006
+    },
+    "orientation": {
+      "x": -0.30579993296940167,
+      "y": 0.771935145816114,
+      "z": 0.5288751001182601,
+      "w": -0.1757659242420575
+    }
+  },
+  {
+    "timestamp": 1766209333.404788,
+    "position": {
+      "x": -0.05397984944197673,
+      "y": 0.004137040080562676,
+      "z": 0.019678074347724797
+    },
+    "orientation": {
+      "x": -0.30348037250721327,
+      "y": 0.75528783545109,
+      "z": 0.5544895930213363,
+      "w": -0.17315091785353925
+    }
+  },
+  {
+    "timestamp": 1766209333.537478,
+    "position": {
+      "x": -0.05397683096099867,
+      "y": 0.005850600080016255,
+      "z": 0.01862649899048699
+    },
+    "orientation": {
+      "x": -0.3011579385981331,
+      "y": 0.742974922614838,
+      "z": 0.5721355445343471,
+      "w": -0.17306957868205702
+    }
+  },
+  {
+    "timestamp": 1766209333.670168,
+    "position": {
+      "x": -0.05349561449039503,
+      "y": 0.008200093160104255,
+      "z": 0.017900259555413744
+    },
+    "orientation": {
+      "x": -0.29877971355734484,
+      "y": 0.7274859037926955,
+      "z": 0.5937367066469081,
+      "w": -0.17021065104628205
+    }
+  },
+  {
+    "timestamp": 1766209333.802858,
+    "position": {
+      "x": -0.05446352913603936,
+      "y": 0.011007997252678453,
+      "z": 0.017267767375915385
+    },
+    "orientation": {
+      "x": -0.2924516080777008,
+      "y": 0.7045097087896283,
+      "z": 0.6248481877315823,
+      "w": -0.16644178995215472
+    }
+  },
+  {
+    "timestamp": 1766209333.935548,
+    "position": {
+      "x": -0.05463096506751669,
+      "y": 0.014003294355387164,
+      "z": 0.016847993475327006
+    },
+    "orientation": {
+      "x": -0.2868354936549921,
+      "y": 0.6809186195175901,
+      "z": 0.6535213022875037,
+      "w": -0.16427154540699287
+    }
+  },
+  {
+    "timestamp": 1766209334.068238,
+    "position": {
+      "x": -0.055628873002039586,
+      "y": 0.016003459864930514,
+      "z": 0.016736315391143633
+    },
+    "orientation": {
+      "x": -0.2805613716888182,
+      "y": 0.6622301319723571,
+      "z": 0.6755770256670048,
+      "w": -0.16227215230866407
+    }
+  },
+  {
+    "timestamp": 1766209334.200928,
+    "position": {
+      "x": -0.05591325928336119,
+      "y": 0.017940429860458934,
+      "z": 0.01693811410833429
+    },
+    "orientation": {
+      "x": -0.2764010882364241,
+      "y": 0.6447278919119472,
+      "z": 0.6951803188640047,
+      "w": -0.1570118087171718
+    }
+  },
+  {
+    "timestamp": 1766209334.333618,
+    "position": {
+      "x": -0.054996736378988026,
+      "y": 0.018737388411175115,
+      "z": 0.01685908418032274
+    },
+    "orientation": {
+      "x": -0.2752028286088674,
+      "y": 0.6399879302364424,
+      "z": 0.7000205511712667,
+      "w": -0.15700344013819778
+    }
+  },
+  {
+    "timestamp": 1766209334.466308,
+    "position": {
+      "x": -0.05448557299493073,
+      "y": 0.016417388912718184,
+      "z": 0.017205021362180897
+    },
+    "orientation": {
+      "x": -0.28074692978636945,
+      "y": 0.66004238083627,
+      "z": 0.6779733588964788,
+      "w": -0.16086435758782044
+    }
+  },
+  {
+    "timestamp": 1766209334.598999,
+    "position": {
+      "x": -0.05505887571585255,
+      "y": 0.013272075394384159,
+      "z": 0.01795098567224343
+    },
+    "orientation": {
+      "x": -0.2867120858289553,
+      "y": 0.6833207602596912,
+      "z": 0.6514961915191787,
+      "w": -0.16254731887586757
+    }
+  },
+  {
+    "timestamp": 1766209334.731689,
+    "position": {
+      "x": -0.05401705303643592,
+      "y": 0.0105706791311653,
+      "z": 0.018443334451354168
+    },
+    "orientation": {
+      "x": -0.2929526239010054,
+      "y": 0.707209775729279,
+      "z": 0.6215273427782556,
+      "w": -0.1665438544091609
+    }
+  },
+  {
+    "timestamp": 1766209334.864379,
+    "position": {
+      "x": -0.05415612968162842,
+      "y": 0.007244717260121075,
+      "z": 0.01924405933576133
+    },
+    "orientation": {
+      "x": -0.29907376745550446,
+      "y": 0.7324663161328123,
+      "z": 0.5873307890030909,
+      "w": -0.1705594372639773
+    }
+  },
+  {
+    "timestamp": 1766209334.9970691,
+    "position": {
+      "x": -0.05450118492551875,
+      "y": 0.004138908935778229,
+      "z": 0.020440040293028927
+    },
+    "orientation": {
+      "x": -0.3051182396228621,
+      "y": 0.7551073304146326,
+      "z": 0.5536443451255117,
+      "w": -0.17376339808508476
+    }
+  },
+  {
+    "timestamp": 1766209335.129759,
+    "position": {
+      "x": -0.05587756160224472,
+      "y": 0.000374655232318194,
+      "z": 0.021860133376097726
+    },
+    "orientation": {
+      "x": -0.3077385724125003,
+      "y": 0.7796531391132603,
+      "z": 0.5160009105627333,
+      "w": -0.17658146567175492
+    }
+  },
+  {
+    "timestamp": 1766209335.262449,
+    "position": {
+      "x": -0.056159289106925775,
+      "y": -0.0024329978934963525,
+      "z": 0.023428000786425804
+    },
+    "orientation": {
+      "x": -0.31201655334593714,
+      "y": 0.8008240932325806,
+      "z": 0.4787125265711687,
+      "w": -0.17933421045685877
+    }
+  },
+  {
+    "timestamp": 1766209335.395139,
+    "position": {
+      "x": -0.05757796949133831,
+      "y": -0.005004216651571913,
+      "z": 0.0251499113993799
+    },
+    "orientation": {
+      "x": -0.3156332455095304,
+      "y": 0.8173328617022095,
+      "z": 0.4463724718484066,
+      "w": -0.18191828903862384
+    }
+  },
+  {
+    "timestamp": 1766209335.527829,
+    "position": {
+      "x": -0.05982653806145802,
+      "y": -0.007854179160964085,
+      "z": 0.027136123288521115
+    },
+    "orientation": {
+      "x": -0.3159521804237294,
+      "y": 0.8324382507437326,
+      "z": 0.4162146143325403,
+      "w": -0.18435339215816074
+    }
+  },
+  {
+    "timestamp": 1766209335.6605191,
+    "position": {
+      "x": -0.06117041576739668,
+      "y": -0.010687748655220944,
+      "z": 0.029526705545601308
+    },
+    "orientation": {
+      "x": -0.31593266533097175,
+      "y": 0.849178931257661,
+      "z": 0.3803326417210632,
+      "w": -0.18554992677563184
+    }
+  },
+  {
+    "timestamp": 1766209335.793209,
+    "position": {
+      "x": -0.06182895869198607,
+      "y": -0.012700945323148416,
+      "z": 0.03185918590038988
+    },
+    "orientation": {
+      "x": -0.3175777505871723,
+      "y": 0.8623049024278882,
+      "z": 0.3464654184502033,
+      "w": -0.18851085220471395
+    }
+  },
+  {
+    "timestamp": 1766209335.9259,
+    "position": {
+      "x": -0.06109365548724946,
+      "y": -0.014443442845104314,
+      "z": 0.033862425626976035
+    },
+    "orientation": {
+      "x": -0.31892034015257287,
+      "y": 0.8745714755182147,
+      "z": 0.3117621561327092,
+      "w": -0.1903126607725938
+    }
+  },
+  {
+    "timestamp": 1766209336.05859,
+    "position": {
+      "x": -0.06184161044377107,
+      "y": -0.01613848907177621,
+      "z": 0.03614397850564007
+    },
+    "orientation": {
+      "x": -0.31685855043694244,
+      "y": 0.8847602910332754,
+      "z": 0.2844025802860138,
+      "w": -0.1895126875762437
+    }
+  },
+  {
+    "timestamp": 1766209336.1912801,
+    "position": {
+      "x": -0.06117587170166125,
+      "y": -0.017563152608626655,
+      "z": 0.03881107033961967
+    },
+    "orientation": {
+      "x": -0.31786722546742735,
+      "y": 0.8955970870270965,
+      "z": 0.24588244703810525,
+      "w": -0.19080908500585753
+    }
+  },
+  {
+    "timestamp": 1766209336.32397,
+    "position": {
+      "x": -0.06121414012750509,
+      "y": -0.01905230764737703,
+      "z": 0.041491053787067904
+    },
+    "orientation": {
+      "x": -0.31676672912397374,
+      "y": 0.9048290559447607,
+      "z": 0.21033732526756976,
+      "w": -0.19157616876192218
+    }
+  },
+  {
+    "timestamp": 1766209336.45666,
+    "position": {
+      "x": -0.060660515886241356,
+      "y": -0.01987732783464797,
+      "z": 0.043649652638383385
+    },
+    "orientation": {
+      "x": -0.3177295660063343,
+      "y": 0.9110744382379946,
+      "z": 0.17955975157148,
+      "w": -0.1917018166067741
+    }
+  },
+  {
+    "timestamp": 1766209336.58935,
+    "position": {
+      "x": -0.05986559958633081,
+      "y": -0.02064042940943983,
+      "z": 0.04556737378592164
+    },
+    "orientation": {
+      "x": -0.3169544110896561,
+      "y": 0.9164134203784824,
+      "z": 0.15211250389345438,
+      "w": -0.19128024048574388
+    }
+  },
+  {
+    "timestamp": 1766209336.72204,
+    "position": {
+      "x": -0.06020407291428634,
+      "y": -0.021340312306581094,
+      "z": 0.047007138107981336
+    },
+    "orientation": {
+      "x": -0.31629232475824864,
+      "y": 0.9197397119894536,
+      "z": 0.1322968355699293,
+      "w": -0.19114281254277524
+    }
+  },
+  {
+    "timestamp": 1766209336.8547301,
+    "position": {
+      "x": -0.06081332087181801,
+      "y": -0.021811722726617827,
+      "z": 0.04711239971190615
+    },
+    "orientation": {
+      "x": -0.3142053957619476,
+      "y": 0.9206398765025445,
+      "z": 0.1326917606106987,
+      "w": -0.18997390276953963
+    }
+  },
+  {
+    "timestamp": 1766209336.98742,
+    "position": {
+      "x": -0.06063257901892183,
+      "y": -0.021532781998004673,
+      "z": 0.04691256055326854
+    },
+    "orientation": {
+      "x": -0.31496123874616566,
+      "y": 0.9197998758292258,
+      "z": 0.13506437689666528,
+      "w": -0.19111572568874896
+    }
+  }
+]

recorded_tac02_pose/episode_28/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 30,
+  "start_time": "2025-12-20T13:42:17.914745",
+  "ros_start_time": 1766209337.914763,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:42:22.427650",
+  "ros_end_time": 1766209342.4276571,
+  "total_tactile_frames": 894,
+  "total_pose_frames": 34
+}

recorded_tac02_pose/episode_28/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_34/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 36,
+  "start_time": "2025-12-20T13:42:50.108629",
+  "ros_start_time": 1766209370.1086428,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:42:54.184343",
+  "ros_end_time": 1766209374.1843572,
+  "total_tactile_frames": 806,
+  "total_pose_frames": 30
+}

recorded_tac02_pose/episode_40/pose_data.json ADDED Viewed

	@@ -0,0 +1,436 @@

+[
+  {
+    "timestamp": 1766209396.001346,
+    "position": {
+      "x": -0.06187150932868038,
+      "y": -0.02218307357811118,
+      "z": 0.03704728669411684
+    },
+    "orientation": {
+      "x": -0.3107799677475717,
+      "y": 0.9140118920859521,
+      "z": 0.15956097135609776,
+      "w": -0.20624831924690815
+    }
+  },
+  {
+    "timestamp": 1766209396.134036,
+    "position": {
+      "x": -0.06436956848105371,
+      "y": -0.02478741567066943,
+      "z": 0.0415153293977677
+    },
+    "orientation": {
+      "x": -0.30384412607910194,
+      "y": 0.9261745882283077,
+      "z": 0.08345182972408934,
+      "w": -0.2071597723571186
+    }
+  },
+  {
+    "timestamp": 1766209396.299899,
+    "position": {
+      "x": -0.05627470536862961,
+      "y": -0.025771474259231694,
+      "z": 0.04918291652850355
+    },
+    "orientation": {
+      "x": -0.29124025804580805,
+      "y": 0.9331943163025699,
+      "z": -0.027663996813803417,
+      "w": -0.20871555618658647
+    }
+  },
+  {
+    "timestamp": 1766209396.432589,
+    "position": {
+      "x": -0.055279030501356546,
+      "y": -0.026234416061248114,
+      "z": 0.051442355939542786
+    },
+    "orientation": {
+      "x": -0.28927775728045224,
+      "y": 0.9321580685572969,
+      "z": -0.060846229695102554,
+      "w": -0.2090393520326068
+    }
+  },
+  {
+    "timestamp": 1766209396.565279,
+    "position": {
+      "x": -0.055602266700391145,
+      "y": -0.026384969036583432,
+      "z": 0.05191219535923854
+    },
+    "orientation": {
+      "x": -0.28771354963634094,
+      "y": 0.9324623961697884,
+      "z": -0.06542187091035015,
+      "w": -0.20845808185710296
+    }
+  },
+  {
+    "timestamp": 1766209396.697969,
+    "position": {
+      "x": -0.05674975243551447,
+      "y": -0.02600212824352823,
+      "z": 0.04733000699133513
+    },
+    "orientation": {
+      "x": -0.29592164626725664,
+      "y": 0.9322869077226046,
+      "z": 0.0006378422757653694,
+      "w": -0.2080170524662135
+    }
+  },
+  {
+    "timestamp": 1766209396.8306592,
+    "position": {
+      "x": -0.05745322675138373,
+      "y": -0.024595851041115342,
+      "z": 0.04296096811388501
+    },
+    "orientation": {
+      "x": -0.30482129648950207,
+      "y": 0.9274243922448983,
+      "z": 0.06588501299837471,
+      "w": -0.20646340822974882
+    }
+  },
+  {
+    "timestamp": 1766209396.963349,
+    "position": {
+      "x": -0.058198796395522834,
+      "y": -0.02235407151936923,
+      "z": 0.038525296505184305
+    },
+    "orientation": {
+      "x": -0.31112608630664174,
+      "y": 0.91832366476393,
+      "z": 0.13540384734842864,
+      "w": -0.20383327323403405
+    }
+  },
+  {
+    "timestamp": 1766209397.096039,
+    "position": {
+      "x": -0.05874773886300577,
+      "y": -0.01941614880395775,
+      "z": 0.034440635920775405
+    },
+    "orientation": {
+      "x": -0.3158235870784519,
+      "y": 0.9053775771596372,
+      "z": 0.19851675528951396,
+      "w": -0.20282505390303185
+    }
+  },
+  {
+    "timestamp": 1766209397.228729,
+    "position": {
+      "x": -0.060586899733024446,
+      "y": -0.015890243319662233,
+      "z": 0.0299390339849845
+    },
+    "orientation": {
+      "x": -0.3146663245566116,
+      "y": 0.8854305964249409,
+      "z": 0.2775362819833095,
+      "w": -0.199928425411414
+    }
+  },
+  {
+    "timestamp": 1766209397.3614202,
+    "position": {
+      "x": -0.059642985326205294,
+      "y": -0.01148973966961924,
+      "z": 0.026430052261111787
+    },
+    "orientation": {
+      "x": -0.31742363682729163,
+      "y": 0.8631568990752211,
+      "z": 0.3400686998942082,
+      "w": -0.1963560075843039
+    }
+  },
+  {
+    "timestamp": 1766209397.49411,
+    "position": {
+      "x": -0.04212489386504159,
+      "y": -0.004229691842017921,
+      "z": 0.020128184555242082
+    },
+    "orientation": {
+      "x": -0.329136149674343,
+      "y": 0.8440546254273257,
+      "z": 0.37436609116593633,
+      "w": -0.19771498187396713
+    }
+  },
+  {
+    "timestamp": 1766209397.6268,
+    "position": {
+      "x": -0.047261064193898916,
+      "y": -0.00047226697660358863,
+      "z": 0.018040064835209382
+    },
+    "orientation": {
+      "x": -0.31742191486788884,
+      "y": 0.810799945704142,
+      "z": 0.45312088711510684,
+      "w": -0.19112361881196632
+    }
+  },
+  {
+    "timestamp": 1766209397.75949,
+    "position": {
+      "x": -0.04732355832727142,
+      "y": 0.002037158894148128,
+      "z": 0.017227815427273377
+    },
+    "orientation": {
+      "x": -0.31558388280227506,
+      "y": 0.7950367093713014,
+      "z": 0.4820056634252484,
+      "w": -0.18972080564207752
+    }
+  },
+  {
+    "timestamp": 1766209397.89218,
+    "position": {
+      "x": -0.04708455499683145,
+      "y": 0.0014816415613289613,
+      "z": 0.01756004848882327
+    },
+    "orientation": {
+      "x": -0.31752128892672593,
+      "y": 0.7992526940115522,
+      "z": 0.4735401540425491,
+      "w": -0.19009230574367122
+    }
+  },
+  {
+    "timestamp": 1766209398.0248702,
+    "position": {
+      "x": -0.051615657228894274,
+      "y": -0.005124305547345456,
+      "z": 0.020342114850990342
+    },
+    "orientation": {
+      "x": -0.31783915494300385,
+      "y": 0.8320768847712522,
+      "z": 0.4107401433792253,
+      "w": -0.1947276663222231
+    }
+  },
+  {
+    "timestamp": 1766209398.15756,
+    "position": {
+      "x": -0.05443225635753807,
+      "y": -0.011098208910838951,
+      "z": 0.025462869953972067
+    },
+    "orientation": {
+      "x": -0.3208822208250719,
+      "y": 0.8651540433170826,
+      "z": 0.33018070790417475,
+      "w": -0.19880588979799163
+    }
+  },
+  {
+    "timestamp": 1766209398.29025,
+    "position": {
+      "x": -0.05737741312318906,
+      "y": -0.016021865583136646,
+      "z": 0.030630960487306194
+    },
+    "orientation": {
+      "x": -0.3187632686415223,
+      "y": 0.8893363731240235,
+      "z": 0.2595437394383952,
+      "w": -0.20026942183447535
+    }
+  },
+  {
+    "timestamp": 1766209398.42294,
+    "position": {
+      "x": -0.05878121562256011,
+      "y": -0.019231597387046523,
+      "z": 0.03527410251348427
+    },
+    "orientation": {
+      "x": -0.3131628791921564,
+      "y": 0.9062319192335379,
+      "z": 0.19939350210582588,
+      "w": -0.20227444469421169
+    }
+  },
+  {
+    "timestamp": 1766209398.555631,
+    "position": {
+      "x": -0.06002214903004657,
+      "y": -0.02140958320526022,
+      "z": 0.04027572233875882
+    },
+    "orientation": {
+      "x": -0.30733134149618063,
+      "y": 0.9196203803978604,
+      "z": 0.13474771301780067,
+      "w": -0.20417849134403174
+    }
+  },
+  {
+    "timestamp": 1766209398.688321,
+    "position": {
+      "x": -0.05940318350567861,
+      "y": -0.022500518986278792,
+      "z": 0.043842289370109956
+    },
+    "orientation": {
+      "x": -0.30586882673140126,
+      "y": 0.9259588736566485,
+      "z": 0.08668496113279495,
+      "w": -0.20378945665532536
+    }
+  },
+  {
+    "timestamp": 1766209398.821011,
+    "position": {
+      "x": -0.05860640720916979,
+      "y": -0.0220377407069174,
+      "z": 0.044960982630773465
+    },
+    "orientation": {
+      "x": -0.30651532134171977,
+      "y": 0.9268591656660053,
+      "z": 0.0740821481760446,
+      "w": -0.20369653930619738
+    }
+  },
+  {
+    "timestamp": 1766209398.953701,
+    "position": {
+      "x": -0.05929306180388699,
+      "y": -0.021766002320560508,
+      "z": 0.04325781824443767
+    },
+    "orientation": {
+      "x": -0.3090876102107273,
+      "y": 0.9240008982627707,
+      "z": 0.09817667325843972,
+      "w": -0.2026043682937754
+    }
+  },
+  {
+    "timestamp": 1766209399.086391,
+    "position": {
+      "x": -0.058515460339955444,
+      "y": -0.018894076369634825,
+      "z": 0.0373863867511323
+    },
+    "orientation": {
+      "x": -0.31840549464599405,
+      "y": 0.9089747953440139,
+      "z": 0.1783255622291526,
+      "w": -0.2014516226397897
+    }
+  },
+  {
+    "timestamp": 1766209399.219081,
+    "position": {
+      "x": -0.05804701072791979,
+      "y": -0.016203572015649488,
+      "z": 0.032965552504537955
+    },
+    "orientation": {
+      "x": -0.32053386046802984,
+      "y": 0.8942936085863983,
+      "z": 0.24111771776060725,
+      "w": -0.19839161302055
+    }
+  },
+  {
+    "timestamp": 1766209399.351771,
+    "position": {
+      "x": -0.056439895108484905,
+      "y": -0.012190995967163318,
+      "z": 0.02864452755494582
+    },
+    "orientation": {
+      "x": -0.322771817637371,
+      "y": 0.8741378066059071,
+      "z": 0.3042373271424809,
+      "w": -0.19784109172383868
+    }
+  },
+  {
+    "timestamp": 1766209399.484461,
+    "position": {
+      "x": -0.06103678480215555,
+      "y": -0.008870996246296614,
+      "z": 0.025595063639412455
+    },
+    "orientation": {
+      "x": -0.31658078809651263,
+      "y": 0.8476630251171918,
+      "z": 0.37918795320095483,
+      "w": -0.193547143106356
+    }
+  },
+  {
+    "timestamp": 1766209399.617151,
+    "position": {
+      "x": -0.05593354883760909,
+      "y": -0.0032945453873869934,
+      "z": 0.02168931865842559
+    },
+    "orientation": {
+      "x": -0.31805696551703355,
+      "y": 0.8222417966748903,
+      "z": 0.43204036410244057,
+      "w": -0.1899982059735712
+    }
+  },
+  {
+    "timestamp": 1766209399.749842,
+    "position": {
+      "x": -0.042070974754028656,
+      "y": 0.005305852170469791,
+      "z": 0.01593125348983125
+    },
+    "orientation": {
+      "x": -0.32230514381613234,
+      "y": 0.7904718607416672,
+      "z": 0.4855315226439196,
+      "w": -0.1885013850462258
+    }
+  },
+  {
+    "timestamp": 1766209399.8825321,
+    "position": {
+      "x": -0.04843366515903447,
+      "y": 0.006498165342999157,
+      "z": 0.015228111698861277
+    },
+    "orientation": {
+      "x": -0.31000053899886865,
+      "y": 0.7656919687370513,
+      "z": 0.5319326146794909,
+      "w": -0.18618047231713
+    }
+  },
+  {
+    "timestamp": 1766209400.015222,
+    "position": {
+      "x": -0.0489550543883544,
+      "y": 0.005359128339435332,
+      "z": 0.015392890973098441
+    },
+    "orientation": {
+      "x": -0.309976112026788,
+      "y": 0.7718789964677181,
+      "z": 0.5226472069799311,
+      "w": -0.1869693071624912
+    }
+  }
+]

recorded_tac02_pose/episode_40/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 42,
+  "start_time": "2025-12-20T13:43:21.515904",
+  "ros_start_time": 1766209401.5159192,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:43:25.691902",
+  "ros_end_time": 1766209405.6919081,
+  "total_tactile_frames": 827,
+  "total_pose_frames": 31
+}

recorded_tac02_pose/episode_40/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_42/pose_data.json ADDED Viewed

	@@ -0,0 +1,408 @@

+[
+  {
+    "timestamp": 1766209406.782417,
+    "position": {
+      "x": -0.05922496919820083,
+      "y": -0.01598972360766384,
+      "z": 0.03690414056398768
+    },
+    "orientation": {
+      "x": -0.3242422279380838,
+      "y": 0.9049520233470998,
+      "z": 0.18984053238975657,
+      "w": -0.19972327186312452
+    }
+  },
+  {
+    "timestamp": 1766209406.915107,
+    "position": {
+      "x": -0.05976496642362067,
+      "y": -0.01589078635932948,
+      "z": 0.036677052636189415
+    },
+    "orientation": {
+      "x": -0.32345719292490616,
+      "y": 0.9039591134577584,
+      "z": 0.19565093893582158,
+      "w": -0.19988515611554264
+    }
+  },
+  {
+    "timestamp": 1766209407.047797,
+    "position": {
+      "x": -0.05877938639243335,
+      "y": -0.015480413953593966,
+      "z": 0.0360697402858119
+    },
+    "orientation": {
+      "x": -0.3230522001362844,
+      "y": 0.9028484183729156,
+      "z": 0.20247396180450414,
+      "w": -0.19876192849692983
+    }
+  },
+  {
+    "timestamp": 1766209407.180488,
+    "position": {
+      "x": -0.058473389826400185,
+      "y": -0.012734859073039374,
+      "z": 0.03294508699485747
+    },
+    "orientation": {
+      "x": -0.3268274845650784,
+      "y": 0.8890627720359211,
+      "z": 0.2520806855126705,
+      "w": -0.19800634006043658
+    }
+  },
+  {
+    "timestamp": 1766209407.313178,
+    "position": {
+      "x": -0.05597768617351595,
+      "y": -0.008835862240204793,
+      "z": 0.02900633362244133
+    },
+    "orientation": {
+      "x": -0.3288991372387228,
+      "y": 0.8703155878519472,
+      "z": 0.31005156654739385,
+      "w": -0.19556114426708163
+    }
+  },
+  {
+    "timestamp": 1766209407.445868,
+    "position": {
+      "x": -0.05413068440761054,
+      "y": -0.0037511608283136294,
+      "z": 0.02497742145896656
+    },
+    "orientation": {
+      "x": -0.3298792700431487,
+      "y": 0.8427882076459102,
+      "z": 0.37927893081026937,
+      "w": -0.19244530883399744
+    }
+  },
+  {
+    "timestamp": 1766209407.578558,
+    "position": {
+      "x": -0.054508813193235306,
+      "y": 0.0009059054546479844,
+      "z": 0.022580747306901294
+    },
+    "orientation": {
+      "x": -0.3236167750698497,
+      "y": 0.8144448590912851,
+      "z": 0.4426565054814883,
+      "w": -0.1897550329980319
+    }
+  },
+  {
+    "timestamp": 1766209407.711248,
+    "position": {
+      "x": -0.05613377845147666,
+      "y": 0.006109418922140675,
+      "z": 0.021742750680214723
+    },
+    "orientation": {
+      "x": -0.3187314618220924,
+      "y": 0.7794031686086825,
+      "z": 0.5080573493073199,
+      "w": -0.181159283014472
+    }
+  },
+  {
+    "timestamp": 1766209407.843938,
+    "position": {
+      "x": -0.05529299800249238,
+      "y": 0.012722527298901443,
+      "z": 0.0204598304282234
+    },
+    "orientation": {
+      "x": -0.3114476699857605,
+      "y": 0.7355056024194911,
+      "z": 0.5756799851905866,
+      "w": -0.17499832090893952
+    }
+  },
+  {
+    "timestamp": 1766209407.976628,
+    "position": {
+      "x": -0.055422888847238394,
+      "y": 0.01544236439407927,
+      "z": 0.020202125245376276
+    },
+    "orientation": {
+      "x": -0.3084700412150857,
+      "y": 0.7152803924740663,
+      "z": 0.6027936019372477,
+      "w": -0.17280065763308997
+    }
+  },
+  {
+    "timestamp": 1766209408.109318,
+    "position": {
+      "x": -0.05782151894783916,
+      "y": 0.01269518102248407,
+      "z": 0.020893585135580914
+    },
+    "orientation": {
+      "x": -0.3104340380719036,
+      "y": 0.731002343644574,
+      "z": 0.5817967708886929,
+      "w": -0.17543887532699842
+    }
+  },
+  {
+    "timestamp": 1766209408.242008,
+    "position": {
+      "x": -0.056087472303043256,
+      "y": 0.0065473736170043595,
+      "z": 0.021771439121403155
+    },
+    "orientation": {
+      "x": -0.3209080406987036,
+      "y": 0.78009458907894,
+      "z": 0.5048108356123648,
+      "w": -0.1834025129408671
+    }
+  },
+  {
+    "timestamp": 1766209408.374699,
+    "position": {
+      "x": -0.057566483959651304,
+      "y": -0.0018585069093439571,
+      "z": 0.025006934867277314
+    },
+    "orientation": {
+      "x": -0.3264881692133093,
+      "y": 0.8296439531141441,
+      "z": 0.41103647937667936,
+      "w": -0.19011943363712713
+    }
+  },
+  {
+    "timestamp": 1766209408.507389,
+    "position": {
+      "x": -0.055902521497933205,
+      "y": -0.006082809383920536,
+      "z": 0.0279631393678597
+    },
+    "orientation": {
+      "x": -0.33041704019475093,
+      "y": 0.8577045286754138,
+      "z": 0.3428757869078611,
+      "w": -0.19391677542425687
+    }
+  },
+  {
+    "timestamp": 1766209408.640079,
+    "position": {
+      "x": -0.05907448186110653,
+      "y": -0.00949686240229193,
+      "z": 0.03060934907722361
+    },
+    "orientation": {
+      "x": -0.32728106931391543,
+      "y": 0.8721037498127,
+      "z": 0.3072598105114121,
+      "w": -0.19471404694027278
+    }
+  },
+  {
+    "timestamp": 1766209408.772769,
+    "position": {
+      "x": -0.05957240237724584,
+      "y": -0.011756763698581911,
+      "z": 0.032978857580148284
+    },
+    "orientation": {
+      "x": -0.32739177629523614,
+      "y": 0.8839810073544898,
+      "z": 0.2697120583006545,
+      "w": -0.19658995156928996
+    }
+  },
+  {
+    "timestamp": 1766209408.905459,
+    "position": {
+      "x": -0.058896990825692414,
+      "y": -0.014780308670036657,
+      "z": 0.036712510274117635
+    },
+    "orientation": {
+      "x": -0.32634202045124533,
+      "y": 0.9006050283426645,
+      "z": 0.20708789954285875,
+      "w": -0.1988116457218586
+    }
+  },
+  {
+    "timestamp": 1766209409.038149,
+    "position": {
+      "x": -0.05858446151334473,
+      "y": -0.017689462606455195,
+      "z": 0.04155099944611916
+    },
+    "orientation": {
+      "x": -0.32402967605924976,
+      "y": 0.9153012767177051,
+      "z": 0.13353263838588275,
+      "w": -0.19848772344299206
+    }
+  },
+  {
+    "timestamp": 1766209409.170839,
+    "position": {
+      "x": -0.05981512171162073,
+      "y": -0.01871168797892178,
+      "z": 0.043341630636839046
+    },
+    "orientation": {
+      "x": -0.31590356913417655,
+      "y": 0.9203355037143497,
+      "z": 0.11273371031450162,
+      "w": -0.20119295755534986
+    }
+  },
+  {
+    "timestamp": 1766209409.303529,
+    "position": {
+      "x": -0.05961991355207544,
+      "y": -0.018886124539646415,
+      "z": 0.04382515099847156
+    },
+    "orientation": {
+      "x": -0.3172008618608074,
+      "y": 0.9210149230329955,
+      "z": 0.10502949069002558,
+      "w": -0.20020971722341532
+    }
+  },
+  {
+    "timestamp": 1766209409.436219,
+    "position": {
+      "x": -0.059776025104739505,
+      "y": -0.01705176861938485,
+      "z": 0.04066599505133305
+    },
+    "orientation": {
+      "x": -0.32186064682851373,
+      "y": 0.9131387770867273,
+      "z": 0.152561434913084,
+      "w": -0.19826322498372662
+    }
+  },
+  {
+    "timestamp": 1766209409.5689101,
+    "position": {
+      "x": -0.059725373765169426,
+      "y": -0.014184831756212296,
+      "z": 0.036033981646135665
+    },
+    "orientation": {
+      "x": -0.3271225606493554,
+      "y": 0.8973119494390372,
+      "z": 0.2206912589618541,
+      "w": -0.1977813538379063
+    }
+  },
+  {
+    "timestamp": 1766209409.7016,
+    "position": {
+      "x": -0.05886718860665202,
+      "y": -0.011233616911106914,
+      "z": 0.03251933740844816
+    },
+    "orientation": {
+      "x": -0.328034236464786,
+      "y": 0.8827443125248702,
+      "z": 0.2734973085896921,
+      "w": -0.1958449402107538
+    }
+  },
+  {
+    "timestamp": 1766209409.83429,
+    "position": {
+      "x": -0.056058272411478954,
+      "y": -0.006994509823789796,
+      "z": 0.02869539270236185
+    },
+    "orientation": {
+      "x": -0.3306097165522343,
+      "y": 0.8629190344755021,
+      "z": 0.32867771531021883,
+      "w": -0.19503567550469553
+    }
+  },
+  {
+    "timestamp": 1766209409.96698,
+    "position": {
+      "x": -0.053929848526410834,
+      "y": -0.0021236441075051793,
+      "z": 0.02542417657400152
+    },
+    "orientation": {
+      "x": -0.33145922257799043,
+      "y": 0.8369745564874276,
+      "z": 0.39246326382584973,
+      "w": -0.18862916558111922
+    }
+  },
+  {
+    "timestamp": 1766209410.09967,
+    "position": {
+      "x": -0.0556873281055113,
+      "y": 0.003310198141323911,
+      "z": 0.023106956787865382
+    },
+    "orientation": {
+      "x": -0.3240368969206601,
+      "y": 0.8017520864637157,
+      "z": 0.46671237115243774,
+      "w": -0.18540022626301628
+    }
+  },
+  {
+    "timestamp": 1766209410.2323601,
+    "position": {
+      "x": -0.049350157362722025,
+      "y": 0.011805851986341265,
+      "z": 0.020470756024723244
+    },
+    "orientation": {
+      "x": -0.32361606959910083,
+      "y": 0.7594057510225481,
+      "z": 0.535481219012204,
+      "w": -0.17842479899474045
+    }
+  },
+  {
+    "timestamp": 1766209410.36505,
+    "position": {
+      "x": -0.054544375773261655,
+      "y": 0.011054885617296117,
+      "z": 0.021056933107430342
+    },
+    "orientation": {
+      "x": -0.31825572919961587,
+      "y": 0.7521999032813389,
+      "z": 0.5490730204385701,
+      "w": -0.17727778925074278
+    }
+  },
+  {
+    "timestamp": 1766209410.49774,
+    "position": {
+      "x": -0.05689581078195413,
+      "y": 0.008121488946051914,
+      "z": 0.021884474261172668
+    },
+    "orientation": {
+      "x": -0.31679878033748815,
+      "y": 0.7667172119257312,
+      "z": 0.5282586134128929,
+      "w": -0.18090352972952464
+    }
+  }
+]

recorded_tac02_pose/episode_42/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 44,
+  "start_time": "2025-12-20T13:43:32.333099",
+  "ros_start_time": 1766209412.3331187,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:43:36.292264",
+  "ros_end_time": 1766209416.2922719,
+  "total_tactile_frames": 785,
+  "total_pose_frames": 29
+}

recorded_tac02_pose/episode_42/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_46/pose_data.json ADDED Viewed

	@@ -0,0 +1,408 @@

+[
+  {
+    "timestamp": 1766209505.769238,
+    "position": {
+      "x": -0.06040832040099839,
+      "y": -0.013067963814465629,
+      "z": 0.03796160180689091
+    },
+    "orientation": {
+      "x": -0.3274486432739393,
+      "y": 0.9083175773546515,
+      "z": 0.16274973446099478,
+      "w": -0.20309871643983568
+    }
+  },
+  {
+    "timestamp": 1766209505.901928,
+    "position": {
+      "x": -0.06022219097802728,
+      "y": -0.012994959694004556,
+      "z": 0.038163551466941815
+    },
+    "orientation": {
+      "x": -0.3279336446927289,
+      "y": 0.9084721707724501,
+      "z": 0.16106811403729374,
+      "w": -0.20296527351003824
+    }
+  },
+  {
+    "timestamp": 1766209506.0346181,
+    "position": {
+      "x": -0.059873427972377935,
+      "y": -0.012850126181707826,
+      "z": 0.03815025732011765
+    },
+    "orientation": {
+      "x": -0.3279938844340131,
+      "y": 0.9083823072113381,
+      "z": 0.16099809917027114,
+      "w": -0.2033253741736458
+    }
+  },
+  {
+    "timestamp": 1766209506.167308,
+    "position": {
+      "x": -0.059840156206256184,
+      "y": -0.012528706939080717,
+      "z": 0.0373273710679765
+    },
+    "orientation": {
+      "x": -0.329570643129711,
+      "y": 0.9059747560179421,
+      "z": 0.1703896089975417,
+      "w": -0.2038634685051831
+    }
+  },
+  {
+    "timestamp": 1766209506.299998,
+    "position": {
+      "x": -0.05920094014583782,
+      "y": -0.010795049675228353,
+      "z": 0.03533999521539683
+    },
+    "orientation": {
+      "x": -0.3322566898200307,
+      "y": 0.8989967156368334,
+      "z": 0.20169324099445163,
+      "w": -0.20181732800029026
+    }
+  },
+  {
+    "timestamp": 1766209506.432688,
+    "position": {
+      "x": -0.05964625477882768,
+      "y": -0.009073379703163152,
+      "z": 0.03318327081978079
+    },
+    "orientation": {
+      "x": -0.3337437024193138,
+      "y": 0.889730420345069,
+      "z": 0.2375556150822324,
+      "w": -0.20140071983718846
+    }
+  },
+  {
+    "timestamp": 1766209506.565378,
+    "position": {
+      "x": -0.058414991613605416,
+      "y": -0.006434563180762118,
+      "z": 0.030880846482152752
+    },
+    "orientation": {
+      "x": -0.3369516520801374,
+      "y": 0.8778899486180435,
+      "z": 0.2753482136478963,
+      "w": -0.19989042877733657
+    }
+  },
+  {
+    "timestamp": 1766209506.698069,
+    "position": {
+      "x": -0.05562646201781343,
+      "y": -0.0025176631897073642,
+      "z": 0.02822039881162755
+    },
+    "orientation": {
+      "x": -0.3406648550657058,
+      "y": 0.8616351816842992,
+      "z": 0.3203742200546218,
+      "w": -0.19721214296112471
+    }
+  },
+  {
+    "timestamp": 1766209506.830759,
+    "position": {
+      "x": -0.058662840604028293,
+      "y": 5.8013313961532975e-05,
+      "z": 0.026390207394479608
+    },
+    "orientation": {
+      "x": -0.33674444730666986,
+      "y": 0.8422006288097846,
+      "z": 0.37361816573276063,
+      "w": -0.19419254433426705
+    }
+  },
+  {
+    "timestamp": 1766209506.963449,
+    "position": {
+      "x": -0.05951085027556391,
+      "y": 0.003948415814639228,
+      "z": 0.025084359151338276
+    },
+    "orientation": {
+      "x": -0.3335260009737726,
+      "y": 0.8197088553428289,
+      "z": 0.42548471354765516,
+      "w": -0.18921035300496145
+    }
+  },
+  {
+    "timestamp": 1766209507.096139,
+    "position": {
+      "x": -0.05897581134795135,
+      "y": 0.006891172803747292,
+      "z": 0.02406638501677985
+    },
+    "orientation": {
+      "x": -0.33241569166008267,
+      "y": 0.8028861143837513,
+      "z": 0.45837213432552587,
+      "w": -0.18646362042439485
+    }
+  },
+  {
+    "timestamp": 1766209507.2288291,
+    "position": {
+      "x": -0.05611023296784512,
+      "y": 0.01146949063379192,
+      "z": 0.0227905591448697
+    },
+    "orientation": {
+      "x": -0.33319371541544546,
+      "y": 0.7806162679426768,
+      "z": 0.49602859462105486,
+      "w": -0.18323706925499364
+    }
+  },
+  {
+    "timestamp": 1766209507.361519,
+    "position": {
+      "x": -0.054958797980014934,
+      "y": 0.015973721550726905,
+      "z": 0.021872399092939435
+    },
+    "orientation": {
+      "x": -0.32851465535767643,
+      "y": 0.7539465638991627,
+      "z": 0.5396517529874012,
+      "w": -0.18005189667842406
+    }
+  },
+  {
+    "timestamp": 1766209507.494209,
+    "position": {
+      "x": -0.054615679175271825,
+      "y": 0.020148610519199014,
+      "z": 0.02181008651058626
+    },
+    "orientation": {
+      "x": -0.32537641990910765,
+      "y": 0.7258257337741026,
+      "z": 0.5797230538764153,
+      "w": -0.17671550685387075
+    }
+  },
+  {
+    "timestamp": 1766209507.626899,
+    "position": {
+      "x": -0.0553859976905727,
+      "y": 0.023084265814454122,
+      "z": 0.021926479483406716
+    },
+    "orientation": {
+      "x": -0.31989930076148587,
+      "y": 0.7020716141518067,
+      "z": 0.6122771954191669,
+      "w": -0.17284826277468976
+    }
+  },
+  {
+    "timestamp": 1766209507.759589,
+    "position": {
+      "x": -0.05419440040308243,
+      "y": 0.026953647942064243,
+      "z": 0.022225620660525178
+    },
+    "orientation": {
+      "x": -0.31630638127855837,
+      "y": 0.6744836078902717,
+      "z": 0.64608914271495,
+      "w": -0.1661052543288346
+    }
+  },
+  {
+    "timestamp": 1766209507.89228,
+    "position": {
+      "x": -0.05746280047801139,
+      "y": 0.024292069082132287,
+      "z": 0.022465632294926458
+    },
+    "orientation": {
+      "x": -0.31423300457384024,
+      "y": 0.6860816694715769,
+      "z": 0.6335514376574539,
+      "w": -0.17076925219067934
+    }
+  },
+  {
+    "timestamp": 1766209508.02497,
+    "position": {
+      "x": -0.05586369704454608,
+      "y": 0.01890802390709971,
+      "z": 0.022198747777336866
+    },
+    "orientation": {
+      "x": -0.32502209162519213,
+      "y": 0.7305893648136291,
+      "z": 0.5737281249695134,
+      "w": -0.17730160347771795
+    }
+  },
+  {
+    "timestamp": 1766209508.15766,
+    "position": {
+      "x": -0.05640854769108772,
+      "y": 0.012092316320307772,
+      "z": 0.022472283461959563
+    },
+    "orientation": {
+      "x": -0.332124612619384,
+      "y": 0.7769467167023972,
+      "z": 0.5016290937673412,
+      "w": -0.1855135935287353
+    }
+  },
+  {
+    "timestamp": 1766209508.29035,
+    "position": {
+      "x": -0.05786316880746151,
+      "y": 0.006471811151941315,
+      "z": 0.023912396496144975
+    },
+    "orientation": {
+      "x": -0.3339217438603636,
+      "y": 0.8090617255794434,
+      "z": 0.44475951817094317,
+      "w": -0.19001148432665205
+    }
+  },
+  {
+    "timestamp": 1766209508.4230402,
+    "position": {
+      "x": -0.058384001339072095,
+      "y": 0.0018564416882121682,
+      "z": 0.025761909463015223
+    },
+    "orientation": {
+      "x": -0.33560388683315395,
+      "y": 0.8345343926838317,
+      "z": 0.3915126574811977,
+      "w": -0.19401086980455054
+    }
+  },
+  {
+    "timestamp": 1766209508.55573,
+    "position": {
+      "x": -0.0586802539368399,
+      "y": -0.003160240605282874,
+      "z": 0.028280074414804277
+    },
+    "orientation": {
+      "x": -0.337033989861375,
+      "y": 0.8603494760455146,
+      "z": 0.3277282059551122,
+      "w": -0.19697992732198555
+    }
+  },
+  {
+    "timestamp": 1766209508.68842,
+    "position": {
+      "x": -0.05894830083293631,
+      "y": -0.007346973030277093,
+      "z": 0.03161673516084901
+    },
+    "orientation": {
+      "x": -0.33560624411190676,
+      "y": 0.8813204940290723,
+      "z": 0.26595599320401,
+      "w": -0.19977498691357695
+    }
+  },
+  {
+    "timestamp": 1766209508.82111,
+    "position": {
+      "x": -0.05917555435668351,
+      "y": -0.01129350010848229,
+      "z": 0.03528206048301589
+    },
+    "orientation": {
+      "x": -0.33127724627116245,
+      "y": 0.8991828408761346,
+      "z": 0.2033023068382549,
+      "w": -0.20098203106537524
+    }
+  },
+  {
+    "timestamp": 1766209508.9538,
+    "position": {
+      "x": -0.05876683432635202,
+      "y": -0.014484777653464793,
+      "z": 0.03980537204428215
+    },
+    "orientation": {
+      "x": -0.32776960468841865,
+      "y": 0.9135106096338885,
+      "z": 0.12973664840355784,
+      "w": -0.20306120848091758
+    }
+  },
+  {
+    "timestamp": 1766209509.086491,
+    "position": {
+      "x": -0.05875660359989812,
+      "y": -0.016917516749895826,
+      "z": 0.04384636074377037
+    },
+    "orientation": {
+      "x": -0.3222037352934312,
+      "y": 0.9220904142178646,
+      "z": 0.06915658647045353,
+      "w": -0.2028580477039106
+    }
+  },
+  {
+    "timestamp": 1766209509.219181,
+    "position": {
+      "x": -0.05900847248541763,
+      "y": -0.01816310162147715,
+      "z": 0.04664064238828787
+    },
+    "orientation": {
+      "x": -0.3150827225083464,
+      "y": 0.9264217577236196,
+      "z": 0.029368032037955606,
+      "w": -0.20396843747801982
+    }
+  },
+  {
+    "timestamp": 1766209509.351871,
+    "position": {
+      "x": -0.05804858400923513,
+      "y": -0.018166256431985772,
+      "z": 0.048683023522580894
+    },
+    "orientation": {
+      "x": -0.3099367313460791,
+      "y": 0.9285411119760502,
+      "z": -0.0007425139334713662,
+      "w": -0.20432834998072874
+    }
+  },
+  {
+    "timestamp": 1766209509.484561,
+    "position": {
+      "x": -0.05793558323720202,
+      "y": -0.018255388356330143,
+      "z": 0.04845064499272795
+    },
+    "orientation": {
+      "x": -0.31014876065026287,
+      "y": 0.9284099821437802,
+      "z": 0.0020815623218250257,
+      "w": -0.20459305565241498
+    }
+  }
+]

recorded_tac02_pose/episode_46/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 49,
+  "start_time": "2025-12-20T13:45:11.722486",
+  "ros_start_time": 1766209511.7225077,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:45:15.696293",
+  "ros_end_time": 1766209515.696299,
+  "total_tactile_frames": 788,
+  "total_pose_frames": 29
+}

recorded_tac02_pose/episode_46/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_54/pose_data.json ADDED Viewed

	@@ -0,0 +1,422 @@

+[
+  {
+    "timestamp": 1766209598.585968,
+    "position": {
+      "x": -0.10219808502554481,
+      "y": -0.01841925599612837,
+      "z": 0.017155093139949965
+    },
+    "orientation": {
+      "x": -0.31965485468836374,
+      "y": 0.8787002241799401,
+      "z": 0.25499798743770546,
+      "w": -0.24633862121682001
+    }
+  },
+  {
+    "timestamp": 1766209598.718658,
+    "position": {
+      "x": -0.10375638044144045,
+      "y": -0.01712478834570024,
+      "z": 0.015641212769827037
+    },
+    "orientation": {
+      "x": -0.32180524447179837,
+      "y": 0.8779461402223512,
+      "z": 0.24967941766848933,
+      "w": -0.25161905311769567
+    }
+  },
+  {
+    "timestamp": 1766209598.851349,
+    "position": {
+      "x": -0.10260373398118547,
+      "y": -0.01412187473801807,
+      "z": 0.01561706293107104
+    },
+    "orientation": {
+      "x": -0.3252219945710887,
+      "y": 0.8759636129718978,
+      "z": 0.25227143957281845,
+      "w": -0.25155024104993357
+    }
+  },
+  {
+    "timestamp": 1766209598.984039,
+    "position": {
+      "x": -0.10289194287805678,
+      "y": -0.014773165152632994,
+      "z": 0.015728164014115614
+    },
+    "orientation": {
+      "x": -0.32520179834078267,
+      "y": 0.8776624555559152,
+      "z": 0.2464346438217547,
+      "w": -0.25144059097116184
+    }
+  },
+  {
+    "timestamp": 1766209599.116729,
+    "position": {
+      "x": -0.10206632800274928,
+      "y": -0.016702220680297433,
+      "z": 0.016774345783769892
+    },
+    "orientation": {
+      "x": -0.3249548183901871,
+      "y": 0.8800850839930636,
+      "z": 0.23883515377100392,
+      "w": -0.2506239818155949
+    }
+  },
+  {
+    "timestamp": 1766209599.249419,
+    "position": {
+      "x": -0.10237055486704305,
+      "y": -0.019373294990341766,
+      "z": 0.019127986758569318
+    },
+    "orientation": {
+      "x": -0.3214610886356785,
+      "y": 0.8821997342069084,
+      "z": 0.24106151501834922,
+      "w": -0.24551118800470728
+    }
+  },
+  {
+    "timestamp": 1766209599.382109,
+    "position": {
+      "x": -0.10153422189396968,
+      "y": -0.023308164001783135,
+      "z": 0.02283053305771357
+    },
+    "orientation": {
+      "x": -0.317284237291951,
+      "y": 0.8868032708333512,
+      "z": 0.2333619887905828,
+      "w": -0.24177025001649566
+    }
+  },
+  {
+    "timestamp": 1766209599.514799,
+    "position": {
+      "x": -0.10149636779862659,
+      "y": -0.02577056476295747,
+      "z": 0.02546329612573893
+    },
+    "orientation": {
+      "x": -0.314801844921501,
+      "y": 0.8903689666801362,
+      "z": 0.22986209269830893,
+      "w": -0.23517295751705738
+    }
+  },
+  {
+    "timestamp": 1766209599.647489,
+    "position": {
+      "x": -0.10128691576328291,
+      "y": -0.026795467579151896,
+      "z": 0.02630826714179183
+    },
+    "orientation": {
+      "x": -0.31231642664505616,
+      "y": 0.8907267658929533,
+      "z": 0.23394632218693584,
+      "w": -0.23309525199958428
+    }
+  },
+  {
+    "timestamp": 1766209599.780179,
+    "position": {
+      "x": -0.10177323458530158,
+      "y": -0.026709330340220244,
+      "z": 0.02666371020130212
+    },
+    "orientation": {
+      "x": -0.3120922602821396,
+      "y": 0.8904286113395601,
+      "z": 0.23789618555465417,
+      "w": -0.2305226975341763
+    }
+  },
+  {
+    "timestamp": 1766209599.912869,
+    "position": {
+      "x": -0.10145566350330698,
+      "y": -0.023796583006585492,
+      "z": 0.023772076650097507
+    },
+    "orientation": {
+      "x": -0.3157220423838938,
+      "y": 0.8874176672794155,
+      "z": 0.23906538810143704,
+      "w": -0.23591781612504933
+    }
+  },
+  {
+    "timestamp": 1766209600.0455601,
+    "position": {
+      "x": -0.10173756516735247,
+      "y": -0.021180299435609923,
+      "z": 0.020700651931624764
+    },
+    "orientation": {
+      "x": -0.31885962488275504,
+      "y": 0.8853364658397224,
+      "z": 0.23708570819911082,
+      "w": -0.24145030304761467
+    }
+  },
+  {
+    "timestamp": 1766209600.17825,
+    "position": {
+      "x": -0.10237206089163992,
+      "y": -0.017846203879439776,
+      "z": 0.017174193135582716
+    },
+    "orientation": {
+      "x": -0.32221246847009866,
+      "y": 0.8822777951566664,
+      "z": 0.2358936272694122,
+      "w": -0.24923726436786414
+    }
+  },
+  {
+    "timestamp": 1766209600.31094,
+    "position": {
+      "x": -0.10184657651723869,
+      "y": -0.01475317123986309,
+      "z": 0.013967808162617903
+    },
+    "orientation": {
+      "x": -0.3262587482640212,
+      "y": 0.8798390137193614,
+      "z": 0.23176596664487756,
+      "w": -0.2563651220889867
+    }
+  },
+  {
+    "timestamp": 1766209600.44363,
+    "position": {
+      "x": -0.10284993155223646,
+      "y": -0.011991124771609393,
+      "z": 0.012147250224809128
+    },
+    "orientation": {
+      "x": -0.33061737409694436,
+      "y": 0.8770913014766418,
+      "z": 0.23222144212406876,
+      "w": -0.25976181905174067
+    }
+  },
+  {
+    "timestamp": 1766209600.57632,
+    "position": {
+      "x": -0.102424240132338,
+      "y": -0.01382309941004032,
+      "z": 0.014432174201272574
+    },
+    "orientation": {
+      "x": -0.3289415740790956,
+      "y": 0.878255575997109,
+      "z": 0.23394723283165472,
+      "w": -0.2563850157921961
+    }
+  },
+  {
+    "timestamp": 1766209600.7090101,
+    "position": {
+      "x": -0.1023345918407437,
+      "y": -0.01729643356869299,
+      "z": 0.01819305193436617
+    },
+    "orientation": {
+      "x": -0.3245530906240522,
+      "y": 0.8805155063792178,
+      "z": 0.23918417796211633,
+      "w": -0.24929633652485134
+    }
+  },
+  {
+    "timestamp": 1766209600.8417,
+    "position": {
+      "x": -0.10259988993496919,
+      "y": -0.0205305735739455,
+      "z": 0.02216228120788001
+    },
+    "orientation": {
+      "x": -0.3207787684605805,
+      "y": 0.8831088098951604,
+      "z": 0.24304352299799445,
+      "w": -0.241142400915289
+    }
+  },
+  {
+    "timestamp": 1766209600.97439,
+    "position": {
+      "x": -0.1021701163199511,
+      "y": -0.023879957399762793,
+      "z": 0.025959987792626413
+    },
+    "orientation": {
+      "x": -0.31706987207468973,
+      "y": 0.8859763088803208,
+      "z": 0.2468033204778169,
+      "w": -0.2315184600122989
+    }
+  },
+  {
+    "timestamp": 1766209601.10708,
+    "position": {
+      "x": -0.10243212340937902,
+      "y": -0.027438032606626854,
+      "z": 0.0292124889783417
+    },
+    "orientation": {
+      "x": -0.31218454889980835,
+      "y": 0.8889387104082631,
+      "z": 0.25096717280485614,
+      "w": -0.22213566742028354
+    }
+  },
+  {
+    "timestamp": 1766209601.2397711,
+    "position": {
+      "x": -0.10159408721686461,
+      "y": -0.025214063843525654,
+      "z": 0.027436795974105768
+    },
+    "orientation": {
+      "x": -0.31491902624584567,
+      "y": 0.8880837276781547,
+      "z": 0.24697402789371198,
+      "w": -0.22613520090334804
+    }
+  },
+  {
+    "timestamp": 1766209601.372461,
+    "position": {
+      "x": -0.10244843030350351,
+      "y": -0.01996500521252329,
+      "z": 0.023250099737105942
+    },
+    "orientation": {
+      "x": -0.3207546701357293,
+      "y": 0.8831058362355237,
+      "z": 0.24913225510680953,
+      "w": -0.23489070449524274
+    }
+  },
+  {
+    "timestamp": 1766209601.505151,
+    "position": {
+      "x": -0.10310743058047972,
+      "y": -0.01606535395487064,
+      "z": 0.0209226038353805
+    },
+    "orientation": {
+      "x": -0.32698989336258816,
+      "y": 0.8795163039817633,
+      "z": 0.2480944072357024,
+      "w": -0.2407858919607772
+    }
+  },
+  {
+    "timestamp": 1766209601.637841,
+    "position": {
+      "x": -0.10332786143818701,
+      "y": -0.012095396378904104,
+      "z": 0.01859198719133942
+    },
+    "orientation": {
+      "x": -0.3322717364387639,
+      "y": 0.876658100736232,
+      "z": 0.24558690297453364,
+      "w": -0.24648152195425957
+    }
+  },
+  {
+    "timestamp": 1766209601.770531,
+    "position": {
+      "x": -0.10379407702273741,
+      "y": -0.009454588760763348,
+      "z": 0.016131504582311343
+    },
+    "orientation": {
+      "x": -0.33665719091652313,
+      "y": 0.8749134778969522,
+      "z": 0.23759021065042063,
+      "w": -0.25443905714638965
+    }
+  },
+  {
+    "timestamp": 1766209601.9032211,
+    "position": {
+      "x": -0.10350627581546379,
+      "y": -0.0095181047650124,
+      "z": 0.01629910701825614
+    },
+    "orientation": {
+      "x": -0.33706500139199314,
+      "y": 0.8755948574932361,
+      "z": 0.23380418793130528,
+      "w": -0.2550616240711213
+    }
+  },
+  {
+    "timestamp": 1766209602.035911,
+    "position": {
+      "x": -0.10359355104258836,
+      "y": -0.014491115967239239,
+      "z": 0.020105796542519094
+    },
+    "orientation": {
+      "x": -0.3313557308840776,
+      "y": 0.8796751580021095,
+      "z": 0.2341527819942216,
+      "w": -0.2480876270365149
+    }
+  },
+  {
+    "timestamp": 1766209602.168601,
+    "position": {
+      "x": -0.10322130029205703,
+      "y": -0.01667767819825563,
+      "z": 0.022399119003160467
+    },
+    "orientation": {
+      "x": -0.3285869420315071,
+      "y": 0.8812432532752701,
+      "z": 0.23846627860704547,
+      "w": -0.24202228007046855
+    }
+  },
+  {
+    "timestamp": 1766209602.301291,
+    "position": {
+      "x": -0.10316202097870072,
+      "y": -0.019616127111012648,
+      "z": 0.024619431242478604
+    },
+    "orientation": {
+      "x": -0.32524779373787804,
+      "y": 0.883677952302257,
+      "z": 0.23832654283959123,
+      "w": -0.23775535380230906
+    }
+  },
+  {
+    "timestamp": 1766209602.4339821,
+    "position": {
+      "x": -0.10299112001726526,
+      "y": -0.022006463944484675,
+      "z": 0.02676137834969
+    },
+    "orientation": {
+      "x": -0.3198281354674992,
+      "y": 0.8857947828915553,
+      "z": 0.24300000770673041,
+      "w": -0.23244044962100388
+    }
+  }
+]

recorded_tac02_pose/episode_54/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 58,
+  "start_time": "2025-12-20T13:46:44.941125",
+  "ros_start_time": 1766209604.9411376,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:46:48.987578",
+  "ros_end_time": 1766209608.9875886,
+  "total_tactile_frames": 800,
+  "total_pose_frames": 30
+}

recorded_tac02_pose/episode_54/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_81/pose_data.json ADDED Viewed

	@@ -0,0 +1,394 @@

+[
+  {
+    "timestamp": 1766209770.220623,
+    "position": {
+      "x": -0.1021004783854742,
+      "y": -0.014724981243646594,
+      "z": 0.022186334445577452
+    },
+    "orientation": {
+      "x": -0.33070602137232497,
+      "y": 0.8873408261646932,
+      "z": 0.2148867810233008,
+      "w": -0.2389214452302072
+    }
+  },
+  {
+    "timestamp": 1766209770.353313,
+    "position": {
+      "x": -0.1022574505697697,
+      "y": -0.016357409076048463,
+      "z": 0.021962195383560798
+    },
+    "orientation": {
+      "x": -0.32966399975556404,
+      "y": 0.8858659195955108,
+      "z": 0.2218059869135788,
+      "w": -0.23951059252913387
+    }
+  },
+  {
+    "timestamp": 1766209770.486003,
+    "position": {
+      "x": -0.10140215268997954,
+      "y": -0.017179706002647274,
+      "z": 0.021188861012235966
+    },
+    "orientation": {
+      "x": -0.3281667840564315,
+      "y": 0.8888259675726086,
+      "z": 0.2115352308966799,
+      "w": -0.23989124056572836
+    }
+  },
+  {
+    "timestamp": 1766209770.618693,
+    "position": {
+      "x": -0.10135666737057603,
+      "y": -0.016296316850892875,
+      "z": 0.02123877048516204
+    },
+    "orientation": {
+      "x": -0.3293298151069392,
+      "y": 0.8875159415020846,
+      "z": 0.21566829666020704,
+      "w": -0.23946714237444494
+    }
+  },
+  {
+    "timestamp": 1766209770.751384,
+    "position": {
+      "x": -0.10137899340228598,
+      "y": -0.015031190810624803,
+      "z": 0.02025380463889112
+    },
+    "orientation": {
+      "x": -0.32935407075873874,
+      "y": 0.884523354072503,
+      "z": 0.22703497004309414,
+      "w": -0.23999886364836903
+    }
+  },
+  {
+    "timestamp": 1766209770.884074,
+    "position": {
+      "x": -0.10310661374820346,
+      "y": -0.01347247675605711,
+      "z": 0.020214972626999422
+    },
+    "orientation": {
+      "x": -0.329928414791034,
+      "y": 0.8770434656008628,
+      "z": 0.2551413566267386,
+      "w": -0.23842166155567934
+    }
+  },
+  {
+    "timestamp": 1766209771.016764,
+    "position": {
+      "x": -0.10344275860189439,
+      "y": -0.012085003649631373,
+      "z": 0.017957462434618293
+    },
+    "orientation": {
+      "x": -0.3324782503349741,
+      "y": 0.860589880206618,
+      "z": 0.3064666078781533,
+      "w": -0.2343533430438142
+    }
+  },
+  {
+    "timestamp": 1766209771.149454,
+    "position": {
+      "x": -0.10210219403350729,
+      "y": -0.007053517059763294,
+      "z": 0.014137827953308799
+    },
+    "orientation": {
+      "x": -0.32767067708246533,
+      "y": 0.8278575475147315,
+      "z": 0.3935972301588131,
+      "w": -0.22883406392957137
+    }
+  },
+  {
+    "timestamp": 1766209771.282144,
+    "position": {
+      "x": -0.10173993574371906,
+      "y": -0.0008519860786149192,
+      "z": 0.01126603538777493
+    },
+    "orientation": {
+      "x": -0.3216201706061607,
+      "y": 0.7903676406044642,
+      "z": 0.47217086525226837,
+      "w": -0.22121060677897153
+    }
+  },
+  {
+    "timestamp": 1766209771.414834,
+    "position": {
+      "x": -0.10110314213396837,
+      "y": 0.005399626369177332,
+      "z": 0.009845348002849322
+    },
+    "orientation": {
+      "x": -0.3121280272321585,
+      "y": 0.7443759864716684,
+      "z": 0.549727427417421,
+      "w": -0.2151284289105362
+    }
+  },
+  {
+    "timestamp": 1766209771.547524,
+    "position": {
+      "x": -0.10293389994648236,
+      "y": 0.010050206496745429,
+      "z": 0.010955401325594777
+    },
+    "orientation": {
+      "x": -0.2947088766720806,
+      "y": 0.6958762274539684,
+      "z": 0.6221137747415588,
+      "w": -0.2046396964225717
+    }
+  },
+  {
+    "timestamp": 1766209771.680214,
+    "position": {
+      "x": -0.101544158546199,
+      "y": 0.011954027963941904,
+      "z": 0.010381739040700319
+    },
+    "orientation": {
+      "x": -0.28938454458310187,
+      "y": 0.6792266896594786,
+      "z": 0.6436736695030035,
+      "w": -0.20147430754117363
+    }
+  },
+  {
+    "timestamp": 1766209771.8129041,
+    "position": {
+      "x": -0.10323394027248642,
+      "y": 0.01006922567771168,
+      "z": 0.01151772592184018
+    },
+    "orientation": {
+      "x": -0.2938137519675704,
+      "y": 0.6935568106570781,
+      "z": 0.6255043856584425,
+      "w": -0.20346177298936363
+    }
+  },
+  {
+    "timestamp": 1766209771.945594,
+    "position": {
+      "x": -0.10255873135635449,
+      "y": 0.002565374802252454,
+      "z": 0.012365775716606173
+    },
+    "orientation": {
+      "x": -0.30869950727699746,
+      "y": 0.7518059934963037,
+      "z": 0.5418860599057406,
+      "w": -0.2141304752477022
+    }
+  },
+  {
+    "timestamp": 1766209772.078285,
+    "position": {
+      "x": -0.1029820770715518,
+      "y": -0.005994785954053575,
+      "z": 0.014378349817626715
+    },
+    "orientation": {
+      "x": -0.3253962766830672,
+      "y": 0.81923615471951,
+      "z": 0.41384309781627915,
+      "w": -0.22738354450358458
+    }
+  },
+  {
+    "timestamp": 1766209772.210975,
+    "position": {
+      "x": -0.10322926775587321,
+      "y": -0.0124920179590964,
+      "z": 0.018207087327236957
+    },
+    "orientation": {
+      "x": -0.3295986869421605,
+      "y": 0.8598421288680089,
+      "z": 0.3111225074344297,
+      "w": -0.23502979461644274
+    }
+  },
+  {
+    "timestamp": 1766209772.3436651,
+    "position": {
+      "x": -0.10218195509360398,
+      "y": -0.014569307190099495,
+      "z": 0.022391118756810213
+    },
+    "orientation": {
+      "x": -0.3279427399564379,
+      "y": 0.8849031041848848,
+      "z": 0.2286096608341583,
+      "w": -0.23903488968581593
+    }
+  },
+  {
+    "timestamp": 1766209772.476355,
+    "position": {
+      "x": -0.09952017627075377,
+      "y": -0.016561192088621585,
+      "z": 0.025951836429793346
+    },
+    "orientation": {
+      "x": -0.3257995488234643,
+      "y": 0.9012396374885854,
+      "z": 0.15073892666440314,
+      "w": -0.2426922862266826
+    }
+  },
+  {
+    "timestamp": 1766209772.609045,
+    "position": {
+      "x": -0.09691585948426598,
+      "y": -0.019137552755940555,
+      "z": 0.028928500066440294
+    },
+    "orientation": {
+      "x": -0.3216006954951428,
+      "y": 0.9107509003590579,
+      "z": 0.08448039209217535,
+      "w": -0.2448853885068652
+    }
+  },
+  {
+    "timestamp": 1766209772.741735,
+    "position": {
+      "x": -0.09614904679408737,
+      "y": -0.019117011972427163,
+      "z": 0.03027661345162745
+    },
+    "orientation": {
+      "x": -0.31985421126901864,
+      "y": 0.9124028682112453,
+      "z": 0.06991128010620436,
+      "w": -0.24561494768698194
+    }
+  },
+  {
+    "timestamp": 1766209772.874425,
+    "position": {
+      "x": -0.09699693214837224,
+      "y": -0.01916074064238687,
+      "z": 0.028633233834896396
+    },
+    "orientation": {
+      "x": -0.32217132789464664,
+      "y": 0.9097433759381666,
+      "z": 0.09102578410068039,
+      "w": -0.24553397330732882
+    }
+  },
+  {
+    "timestamp": 1766209773.0071151,
+    "position": {
+      "x": -0.09926880846265043,
+      "y": -0.01867566440049128,
+      "z": 0.025383493029359716
+    },
+    "orientation": {
+      "x": -0.32541147197497766,
+      "y": 0.9027629013692446,
+      "z": 0.14220592666151097,
+      "w": -0.24270144672169275
+    }
+  },
+  {
+    "timestamp": 1766209773.139805,
+    "position": {
+      "x": -0.10092107852206922,
+      "y": -0.015389025571031542,
+      "z": 0.02151893265980591
+    },
+    "orientation": {
+      "x": -0.3296043788408389,
+      "y": 0.8879520406311762,
+      "z": 0.2130394001776025,
+      "w": -0.2398256470018213
+    }
+  },
+  {
+    "timestamp": 1766209773.272496,
+    "position": {
+      "x": -0.10240640475491747,
+      "y": -0.011488040896251342,
+      "z": 0.01763708774319521
+    },
+    "orientation": {
+      "x": -0.33335743935982165,
+      "y": 0.8649355887811403,
+      "z": 0.29200597953601853,
+      "w": -0.2355668754271182
+    }
+  },
+  {
+    "timestamp": 1766209773.405186,
+    "position": {
+      "x": -0.1024554862419243,
+      "y": -0.0064649265726208355,
+      "z": 0.014180666600711017
+    },
+    "orientation": {
+      "x": -0.33084885906036066,
+      "y": 0.8304321813605747,
+      "z": 0.3856303543279034,
+      "w": -0.22849650859501305
+    }
+  },
+  {
+    "timestamp": 1766209773.5378761,
+    "position": {
+      "x": -0.10294042426598482,
+      "y": 0.0021187913110193163,
+      "z": 0.011559634033388638
+    },
+    "orientation": {
+      "x": -0.3222337023303831,
+      "y": 0.7763833420469594,
+      "z": 0.49576338942796094,
+      "w": -0.21820405353097377
+    }
+  },
+  {
+    "timestamp": 1766209773.670566,
+    "position": {
+      "x": -0.10453461340682357,
+      "y": 0.00799558728993889,
+      "z": 0.01248496157472917
+    },
+    "orientation": {
+      "x": -0.31200044560852336,
+      "y": 0.7316929306007236,
+      "z": 0.5687572492778745,
+      "w": -0.20927581953697658
+    }
+  },
+  {
+    "timestamp": 1766209773.803256,
+    "position": {
+      "x": -0.10293958681945994,
+      "y": 0.012692139678072561,
+      "z": 0.011135285772261028
+    },
+    "orientation": {
+      "x": -0.30558322490155676,
+      "y": 0.7010607277851586,
+      "z": 0.6106371353517511,
+      "w": -0.20556030148235196
+    }
+  }
+]

recorded_tac02_pose/episode_81/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 85,
+  "start_time": "2025-12-20T13:49:37.303636",
+  "ros_start_time": 1766209777.3036535,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:49:41.051044",
+  "ros_end_time": 1766209781.0510533,
+  "total_tactile_frames": 743,
+  "total_pose_frames": 28
+}

recorded_tac02_pose/episode_81/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_85/pose_data.json ADDED Viewed

	@@ -0,0 +1,436 @@

+[
+  {
+    "timestamp": 1766209881.050036,
+    "position": {
+      "x": -0.10016986611635825,
+      "y": -0.019146475259753395,
+      "z": 0.01861685273831694
+    },
+    "orientation": {
+      "x": -0.32519195412785423,
+      "y": 0.8886381128200309,
+      "z": 0.21376026223583985,
+      "w": -0.24265005193287395
+    }
+  },
+  {
+    "timestamp": 1766209881.1827261,
+    "position": {
+      "x": -0.09910234401750889,
+      "y": -0.019122484738101055,
+      "z": 0.01795384885253916
+    },
+    "orientation": {
+      "x": -0.32608814598552677,
+      "y": 0.8872646332507304,
+      "z": 0.2174337079841687,
+      "w": -0.2432089107381223
+    }
+  },
+  {
+    "timestamp": 1766209881.315416,
+    "position": {
+      "x": -0.09975737531831022,
+      "y": -0.019260058179991685,
+      "z": 0.017872167821860657
+    },
+    "orientation": {
+      "x": -0.3250476709542402,
+      "y": 0.8859625675816174,
+      "z": 0.2253215738922075,
+      "w": -0.24216632464104143
+    }
+  },
+  {
+    "timestamp": 1766209881.448106,
+    "position": {
+      "x": -0.09919228175817957,
+      "y": -0.01867575936991271,
+      "z": 0.017226523949822242
+    },
+    "orientation": {
+      "x": -0.3259944992863928,
+      "y": 0.8830068957408586,
+      "z": 0.2354657209791526,
+      "w": -0.24203781265098698
+    }
+  },
+  {
+    "timestamp": 1766209881.580796,
+    "position": {
+      "x": -0.09915971291156017,
+      "y": -0.016757524958110906,
+      "z": 0.015545915739434563
+    },
+    "orientation": {
+      "x": -0.3280441025654393,
+      "y": 0.8750409797458585,
+      "z": 0.2625237727724186,
+      "w": -0.24035727421232517
+    }
+  },
+  {
+    "timestamp": 1766209881.713486,
+    "position": {
+      "x": -0.098549159108724,
+      "y": -0.014307802907332176,
+      "z": 0.01298308607675605
+    },
+    "orientation": {
+      "x": -0.3283894658545445,
+      "y": 0.8612603981673712,
+      "z": 0.30560199443377495,
+      "w": -0.23874318055694718
+    }
+  },
+  {
+    "timestamp": 1766209881.8461761,
+    "position": {
+      "x": -0.09817820725860338,
+      "y": -0.010609301604302561,
+      "z": 0.010577299911267338
+    },
+    "orientation": {
+      "x": -0.32711345488052435,
+      "y": 0.841164451068217,
+      "z": 0.35942864217964193,
+      "w": -0.23717125685068
+    }
+  },
+  {
+    "timestamp": 1766209881.978867,
+    "position": {
+      "x": -0.09699185694047535,
+      "y": -0.006678023344390056,
+      "z": 0.009114373934004091
+    },
+    "orientation": {
+      "x": -0.3218222384794456,
+      "y": 0.815911860439785,
+      "z": 0.420783302514389,
+      "w": -0.23164562404425365
+    }
+  },
+  {
+    "timestamp": 1766209882.111557,
+    "position": {
+      "x": -0.09530276357708772,
+      "y": -0.0025263651784471902,
+      "z": 0.0069389321841303725
+    },
+    "orientation": {
+      "x": -0.31581614299974486,
+      "y": 0.7891176095252663,
+      "z": 0.47572110395939365,
+      "w": -0.22636915294613313
+    }
+  },
+  {
+    "timestamp": 1766209882.244247,
+    "position": {
+      "x": -0.0955299152294102,
+      "y": 0.0030363690284413575,
+      "z": 0.005102943107003363
+    },
+    "orientation": {
+      "x": -0.30767029369216276,
+      "y": 0.7550667479185997,
+      "z": 0.5346121112577011,
+      "w": -0.2222680522783047
+    }
+  },
+  {
+    "timestamp": 1766209882.3769372,
+    "position": {
+      "x": -0.09556866633607822,
+      "y": 0.007527847394116813,
+      "z": 0.005001290316624538
+    },
+    "orientation": {
+      "x": -0.29591009946599933,
+      "y": 0.718408199284179,
+      "z": 0.5916874291463294,
+      "w": -0.21501827463146714
+    }
+  },
+  {
+    "timestamp": 1766209882.509627,
+    "position": {
+      "x": -0.09796525306546977,
+      "y": 0.011522115895594542,
+      "z": 0.005906670034571418
+    },
+    "orientation": {
+      "x": -0.28162040839744046,
+      "y": 0.6787716099558597,
+      "z": 0.6455961292648363,
+      "w": -0.20776112478096037
+    }
+  },
+  {
+    "timestamp": 1766209882.642317,
+    "position": {
+      "x": -0.09711763450112326,
+      "y": 0.014454933611407456,
+      "z": 0.004997987900314749
+    },
+    "orientation": {
+      "x": -0.2712436559971361,
+      "y": 0.6522057572055106,
+      "z": 0.677902404860429,
+      "w": -0.20372250448524537
+    }
+  },
+  {
+    "timestamp": 1766209882.775007,
+    "position": {
+      "x": -0.09690699087051283,
+      "y": 0.01672196398276632,
+      "z": 0.00458392623951763
+    },
+    "orientation": {
+      "x": -0.2720399974576893,
+      "y": 0.6431030015275081,
+      "z": 0.6862048133665195,
+      "w": -0.2038031484598568
+    }
+  },
+  {
+    "timestamp": 1766209882.907697,
+    "position": {
+      "x": -0.09585287341312862,
+      "y": 0.015698205461569276,
+      "z": 0.004107785842949588
+    },
+    "orientation": {
+      "x": -0.2770358437399588,
+      "y": 0.6562766945790877,
+      "z": 0.6711877813464618,
+      "w": -0.20508291885686122
+    }
+  },
+  {
+    "timestamp": 1766209883.07356,
+    "position": {
+      "x": -0.09712861177075738,
+      "y": 0.01215004954766448,
+      "z": 0.004930783816061282
+    },
+    "orientation": {
+      "x": -0.2894389639814709,
+      "y": 0.6885352043567465,
+      "z": 0.6302478931785213,
+      "w": -0.2119715821396382
+    }
+  },
+  {
+    "timestamp": 1766209883.20625,
+    "position": {
+      "x": -0.09838473380174326,
+      "y": 0.009441509570373305,
+      "z": 0.005923312282028387
+    },
+    "orientation": {
+      "x": -0.297799588888185,
+      "y": 0.7107988951261864,
+      "z": 0.6000469328740147,
+      "w": -0.21453208126969792
+    }
+  },
+  {
+    "timestamp": 1766209883.3389401,
+    "position": {
+      "x": -0.09746409294689062,
+      "y": 0.005299525474710756,
+      "z": 0.006009447490162134
+    },
+    "orientation": {
+      "x": -0.30315850090443636,
+      "y": 0.7367837519273472,
+      "z": 0.5634634002175539,
+      "w": -0.21852602325697695
+    }
+  },
+  {
+    "timestamp": 1766209883.47163,
+    "position": {
+      "x": -0.09966361978712396,
+      "y": -0.0009832461565917466,
+      "z": 0.008387545860595189
+    },
+    "orientation": {
+      "x": -0.30825812382317075,
+      "y": 0.7713814825800183,
+      "z": 0.5102899043379686,
+      "w": -0.22260222586582235
+    }
+  },
+  {
+    "timestamp": 1766209883.60432,
+    "position": {
+      "x": -0.09854898758316777,
+      "y": -0.00490579959125878,
+      "z": 0.009252033558396627
+    },
+    "orientation": {
+      "x": -0.3185077869962478,
+      "y": 0.8047503754063566,
+      "z": 0.44515357294097496,
+      "w": -0.22971268881793439
+    }
+  },
+  {
+    "timestamp": 1766209883.73701,
+    "position": {
+      "x": -0.10102711413127363,
+      "y": -0.00702596451484884,
+      "z": 0.011103242639313268
+    },
+    "orientation": {
+      "x": -0.3271702172918859,
+      "y": 0.8299906348081453,
+      "z": 0.3867919543588826,
+      "w": -0.23338204534879722
+    }
+  },
+  {
+    "timestamp": 1766209883.8697011,
+    "position": {
+      "x": -0.10154213634437381,
+      "y": -0.011961804635298556,
+      "z": 0.013916249076398143
+    },
+    "orientation": {
+      "x": -0.32782406202933484,
+      "y": 0.8531678091406181,
+      "z": 0.3293660167660332,
+      "w": -0.23696856500485897
+    }
+  },
+  {
+    "timestamp": 1766209884.002391,
+    "position": {
+      "x": -0.10035356671074003,
+      "y": -0.014971343345871725,
+      "z": 0.01625925739238729
+    },
+    "orientation": {
+      "x": -0.32877399284354797,
+      "y": 0.8708188846365472,
+      "z": 0.27625377043219523,
+      "w": -0.23930312599727263
+    }
+  },
+  {
+    "timestamp": 1766209884.135081,
+    "position": {
+      "x": -0.10035938642354489,
+      "y": -0.01777720448955352,
+      "z": 0.01883026974535143
+    },
+    "orientation": {
+      "x": -0.3263627630316099,
+      "y": 0.8838390703909644,
+      "z": 0.2314897125663282,
+      "w": -0.24233934375740127
+    }
+  },
+  {
+    "timestamp": 1766209884.267771,
+    "position": {
+      "x": -0.10014487135712963,
+      "y": -0.020787470097832043,
+      "z": 0.021217234196472437
+    },
+    "orientation": {
+      "x": -0.3242424114385806,
+      "y": 0.8948184433517223,
+      "z": 0.18811371823691816,
+      "w": -0.2424459549532146
+    }
+  },
+  {
+    "timestamp": 1766209884.400461,
+    "position": {
+      "x": -0.09909604711791073,
+      "y": -0.021536159121256254,
+      "z": 0.021689900878510596
+    },
+    "orientation": {
+      "x": -0.3235467763566557,
+      "y": 0.8982127072056848,
+      "z": 0.1705117443212843,
+      "w": -0.24383839150544764
+    }
+  },
+  {
+    "timestamp": 1766209884.5331511,
+    "position": {
+      "x": -0.09983588693388784,
+      "y": -0.020019589949205906,
+      "z": 0.019679556954789595
+    },
+    "orientation": {
+      "x": -0.3257302123702593,
+      "y": 0.89081239850151,
+      "z": 0.20314833987118905,
+      "w": -0.24307170018904392
+    }
+  },
+  {
+    "timestamp": 1766209884.665841,
+    "position": {
+      "x": -0.09995677105138454,
+      "y": -0.017937455944000702,
+      "z": 0.01704837224297255
+    },
+    "orientation": {
+      "x": -0.32707337323276675,
+      "y": 0.8751964022137632,
+      "z": 0.26268406886125484,
+      "w": -0.24093846940810362
+    }
+  },
+  {
+    "timestamp": 1766209884.798531,
+    "position": {
+      "x": -0.0992608166502105,
+      "y": -0.013719509727567102,
+      "z": 0.014271704102395436
+    },
+    "orientation": {
+      "x": -0.3271234764461813,
+      "y": 0.8556003765505336,
+      "z": 0.3232498040171525,
+      "w": -0.2375874386562186
+    }
+  },
+  {
+    "timestamp": 1766209884.931221,
+    "position": {
+      "x": -0.09981911336019034,
+      "y": -0.010554100484468018,
+      "z": 0.012695548947124477
+    },
+    "orientation": {
+      "x": -0.3227463424520479,
+      "y": 0.8356611417173715,
+      "z": 0.3781288987584054,
+      "w": -0.2335032988657762
+    }
+  },
+  {
+    "timestamp": 1766209885.0639122,
+    "position": {
+      "x": -0.09989192448617326,
+      "y": -0.0057849655754490525,
+      "z": 0.010781006861764905
+    },
+    "orientation": {
+      "x": -0.32181906752939055,
+      "y": 0.8115156668447496,
+      "z": 0.43097714536217174,
+      "w": -0.22832763830843675
+    }
+  }
+]

recorded_tac02_pose/episode_85/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 91,
+  "start_time": "2025-12-20T13:51:28.607140",
+  "ros_start_time": 1766209888.6071513,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:51:32.731184",
+  "ros_end_time": 1766209892.7311983,
+  "total_tactile_frames": 818,
+  "total_pose_frames": 31
+}

recorded_tac02_pose/episode_85/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_93/pose_data.json ADDED Viewed

	@@ -0,0 +1,450 @@

+[
+  {
+    "timestamp": 1766209923.411353,
+    "position": {
+      "x": -0.10818501591787846,
+      "y": 0.006072476077069927,
+      "z": 0.021465762600632474
+    },
+    "orientation": {
+      "x": -0.3260398906646854,
+      "y": 0.749148052783674,
+      "z": 0.5403513659819844,
+      "w": -0.2012351509731668
+    }
+  },
+  {
+    "timestamp": 1766209923.544043,
+    "position": {
+      "x": -0.10434909520249333,
+      "y": 0.007539884578049397,
+      "z": 0.018111138150131517
+    },
+    "orientation": {
+      "x": -0.3118420385157417,
+      "y": 0.7232732563192402,
+      "z": 0.5827057981516766,
+      "w": -0.20021062036796863
+    }
+  },
+  {
+    "timestamp": 1766209923.676733,
+    "position": {
+      "x": -0.10402119585615216,
+      "y": 0.009637870995558628,
+      "z": 0.01862330023232517
+    },
+    "orientation": {
+      "x": -0.3031179839465833,
+      "y": 0.6958860469405912,
+      "z": 0.6215252203903002,
+      "w": -0.1938259474382756
+    }
+  },
+  {
+    "timestamp": 1766209923.809423,
+    "position": {
+      "x": -0.10489789859381601,
+      "y": 0.011771704783690426,
+      "z": 0.019210109393016123
+    },
+    "orientation": {
+      "x": -0.29593326537754727,
+      "y": 0.6712795003969899,
+      "z": 0.6530192894821887,
+      "w": -0.18807749029037774
+    }
+  },
+  {
+    "timestamp": 1766209923.942113,
+    "position": {
+      "x": -0.10477479651025476,
+      "y": 0.012605197584576816,
+      "z": 0.01921745627844018
+    },
+    "orientation": {
+      "x": -0.28750986766974573,
+      "y": 0.654602027298067,
+      "z": 0.6742651658872759,
+      "w": -0.1849344422242385
+    }
+  },
+  {
+    "timestamp": 1766209924.074803,
+    "position": {
+      "x": -0.1069270938613561,
+      "y": 0.01277521001831565,
+      "z": 0.020886333233064894
+    },
+    "orientation": {
+      "x": -0.29070884422447907,
+      "y": 0.6547136039959789,
+      "z": 0.6731613758336659,
+      "w": -0.18355442440320052
+    }
+  },
+  {
+    "timestamp": 1766209924.207493,
+    "position": {
+      "x": -0.10426761724793432,
+      "y": 0.009490484278070421,
+      "z": 0.018853999400259544
+    },
+    "orientation": {
+      "x": -0.2924856916754534,
+      "y": 0.6784539860795507,
+      "z": 0.6468781871657083,
+      "w": -0.18894687059358065
+    }
+  },
+  {
+    "timestamp": 1766209924.340184,
+    "position": {
+      "x": -0.10090495400681193,
+      "y": 0.0031626618291584613,
+      "z": 0.01713243231104486
+    },
+    "orientation": {
+      "x": -0.30130990595132495,
+      "y": 0.7269338351794771,
+      "z": 0.5832958879435125,
+      "w": -0.20135900018387576
+    }
+  },
+  {
+    "timestamp": 1766209924.472874,
+    "position": {
+      "x": -0.10182019704205669,
+      "y": -0.000983999834024113,
+      "z": 0.018845895630794515
+    },
+    "orientation": {
+      "x": -0.31420691959154023,
+      "y": 0.7657522983626038,
+      "z": 0.5221550471619082,
+      "w": -0.20555178412392944
+    }
+  },
+  {
+    "timestamp": 1766209924.605564,
+    "position": {
+      "x": -0.10194322185137952,
+      "y": -0.0044643692321480605,
+      "z": 0.019576398673803785
+    },
+    "orientation": {
+      "x": -0.32310633112944964,
+      "y": 0.7956527745661438,
+      "z": 0.466566289490645,
+      "w": -0.2117896565467615
+    }
+  },
+  {
+    "timestamp": 1766209924.738254,
+    "position": {
+      "x": -0.10200515410616373,
+      "y": -0.007130417473250217,
+      "z": 0.020051805575527618
+    },
+    "orientation": {
+      "x": -0.3292344500945104,
+      "y": 0.8202697475384108,
+      "z": 0.4140128909772157,
+      "w": -0.21761329060727344
+    }
+  },
+  {
+    "timestamp": 1766209924.870944,
+    "position": {
+      "x": -0.10138537255412411,
+      "y": -0.009757744988348527,
+      "z": 0.020782812043651427
+    },
+    "orientation": {
+      "x": -0.3337445859894108,
+      "y": 0.8409835553040758,
+      "z": 0.3622533167421461,
+      "w": -0.22390566214409957
+    }
+  },
+  {
+    "timestamp": 1766209925.003634,
+    "position": {
+      "x": -0.10195618194902656,
+      "y": -0.01191818455831748,
+      "z": 0.022465762592112776
+    },
+    "orientation": {
+      "x": -0.3342769425477928,
+      "y": 0.8532937563629117,
+      "z": 0.330502723667541,
+      "w": -0.22564715970139923
+    }
+  },
+  {
+    "timestamp": 1766209925.136324,
+    "position": {
+      "x": -0.10174438346599193,
+      "y": -0.012197317311040415,
+      "z": 0.022441006309619593
+    },
+    "orientation": {
+      "x": -0.33466293065387154,
+      "y": 0.8552693447959757,
+      "z": 0.3248433646986108,
+      "w": -0.22581377085932897
+    }
+  },
+  {
+    "timestamp": 1766209925.2690141,
+    "position": {
+      "x": -0.10178784069953911,
+      "y": -0.011997934816786772,
+      "z": 0.022629290366605687
+    },
+    "orientation": {
+      "x": -0.3357209274853473,
+      "y": 0.8530167317986449,
+      "z": 0.33032543816161464,
+      "w": -0.224808849966531
+    }
+  },
+  {
+    "timestamp": 1766209925.401704,
+    "position": {
+      "x": -0.10190075178097566,
+      "y": -0.010843916568863604,
+      "z": 0.02201402136163863
+    },
+    "orientation": {
+      "x": -0.3336788644004494,
+      "y": 0.8462298985016795,
+      "z": 0.3504897931369024,
+      "w": -0.22295802125313877
+    }
+  },
+  {
+    "timestamp": 1766209925.534394,
+    "position": {
+      "x": -0.10070795441552036,
+      "y": -0.00740653421350515,
+      "z": 0.01902684519595034
+    },
+    "orientation": {
+      "x": -0.33266343142805466,
+      "y": 0.8257558799755081,
+      "z": 0.39819325231564356,
+      "w": -0.22114339666080052
+    }
+  },
+  {
+    "timestamp": 1766209925.667085,
+    "position": {
+      "x": -0.10133953622182726,
+      "y": -0.002739054690130943,
+      "z": 0.017895316303891462
+    },
+    "orientation": {
+      "x": -0.3208655423758954,
+      "y": 0.7886116244198021,
+      "z": 0.4797285945632321,
+      "w": -0.21212610660682352
+    }
+  },
+  {
+    "timestamp": 1766209925.7997751,
+    "position": {
+      "x": -0.09885900776528139,
+      "y": 0.0022422754533759914,
+      "z": 0.015574522816977202
+    },
+    "orientation": {
+      "x": -0.3146574721015684,
+      "y": 0.7547404743961958,
+      "z": 0.5363730983725582,
+      "w": -0.20895308301405358
+    }
+  },
+  {
+    "timestamp": 1766209925.932465,
+    "position": {
+      "x": -0.10114006384876112,
+      "y": 0.005759098322913742,
+      "z": 0.016400455872554093
+    },
+    "orientation": {
+      "x": -0.30299407769169595,
+      "y": 0.7191465837865002,
+      "z": 0.5923131565135967,
+      "w": -0.2004692109349064
+    }
+  },
+  {
+    "timestamp": 1766209926.065155,
+    "position": {
+      "x": -0.10032744193413376,
+      "y": 0.009034952191973311,
+      "z": 0.01576932249332455
+    },
+    "orientation": {
+      "x": -0.2935008102854389,
+      "y": 0.690211766738361,
+      "z": 0.6320283603945153,
+      "w": -0.19494907815817383
+    }
+  },
+  {
+    "timestamp": 1766209926.197845,
+    "position": {
+      "x": -0.10223549752549749,
+      "y": 0.01311675493236561,
+      "z": 0.01701702235959275
+    },
+    "orientation": {
+      "x": -0.2829560342079803,
+      "y": 0.6502353152372693,
+      "z": 0.6799392434410937,
+      "w": -0.18658119613812782
+    }
+  },
+  {
+    "timestamp": 1766209926.330535,
+    "position": {
+      "x": -0.10193345687368127,
+      "y": 0.014561719930538217,
+      "z": 0.016904952963347347
+    },
+    "orientation": {
+      "x": -0.27945534226966406,
+      "y": 0.637624297286905,
+      "z": 0.6936795692835023,
+      "w": -0.18479345860982338
+    }
+  },
+  {
+    "timestamp": 1766209926.4632251,
+    "position": {
+      "x": -0.10281713414964366,
+      "y": 0.01406650706559176,
+      "z": 0.017587062420797717
+    },
+    "orientation": {
+      "x": -0.281019428773612,
+      "y": 0.6400493172781225,
+      "z": 0.6910852694816789,
+      "w": -0.18375555068894506
+    }
+  },
+  {
+    "timestamp": 1766209926.595915,
+    "position": {
+      "x": -0.1033836540058933,
+      "y": 0.012339653411877621,
+      "z": 0.017890051079847633
+    },
+    "orientation": {
+      "x": -0.28250159523933177,
+      "y": 0.6512053012420859,
+      "z": 0.6795006872489319,
+      "w": -0.18548132075674426
+    }
+  },
+  {
+    "timestamp": 1766209926.728605,
+    "position": {
+      "x": -0.10294481417722248,
+      "y": 0.00943094786715952,
+      "z": 0.01769396613105391
+    },
+    "orientation": {
+      "x": -0.2914820366028059,
+      "y": 0.6771391417578114,
+      "z": 0.6484420222651227,
+      "w": -0.18985191281125682
+    }
+  },
+  {
+    "timestamp": 1766209926.861296,
+    "position": {
+      "x": -0.10140878636900505,
+      "y": 0.006668784995650268,
+      "z": 0.017163626832572387
+    },
+    "orientation": {
+      "x": -0.3015678209110239,
+      "y": 0.7097888222689187,
+      "z": 0.6052696717074187,
+      "w": -0.1972442690783972
+    }
+  },
+  {
+    "timestamp": 1766209926.9939861,
+    "position": {
+      "x": -0.10193953942059508,
+      "y": 0.00335919140612663,
+      "z": 0.01769060225759421
+    },
+    "orientation": {
+      "x": -0.3076532080072417,
+      "y": 0.734212818951944,
+      "z": 0.5708837747920705,
+      "w": -0.20092972843421966
+    }
+  },
+  {
+    "timestamp": 1766209927.126676,
+    "position": {
+      "x": -0.10247666547720524,
+      "y": -0.0005752191922092365,
+      "z": 0.018852022950899786
+    },
+    "orientation": {
+      "x": -0.31344794933591025,
+      "y": 0.7618123557208649,
+      "z": 0.5289153364739543,
+      "w": -0.2040609824801957
+    }
+  },
+  {
+    "timestamp": 1766209927.259366,
+    "position": {
+      "x": -0.10218106497373244,
+      "y": -0.0038156568066493035,
+      "z": 0.01964435348364435
+    },
+    "orientation": {
+      "x": -0.32067392359613145,
+      "y": 0.7889676600342858,
+      "z": 0.4807383286071795,
+      "w": -0.20877961000409373
+    }
+  },
+  {
+    "timestamp": 1766209927.392056,
+    "position": {
+      "x": -0.1027909933278206,
+      "y": -0.005203614509593973,
+      "z": 0.020400068543776517
+    },
+    "orientation": {
+      "x": -0.3257637552634076,
+      "y": 0.8028917520840406,
+      "z": 0.4515820855953402,
+      "w": -0.21287656085502882
+    }
+  },
+  {
+    "timestamp": 1766209927.524746,
+    "position": {
+      "x": -0.10312965248963196,
+      "y": -0.006610561394507275,
+      "z": 0.020975520595886726
+    },
+    "orientation": {
+      "x": -0.32672256355676466,
+      "y": 0.8119237224518653,
+      "z": 0.4335820090670111,
+      "w": -0.21456671875250474
+    }
+  }
+]

recorded_tac02_pose/episode_93/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 99,
+  "start_time": "2025-12-20T13:52:11.148264",
+  "ros_start_time": 1766209931.1482806,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:52:15.348873",
+  "ros_end_time": 1766209935.34888,
+  "total_tactile_frames": 831,
+  "total_pose_frames": 32
+}

recorded_tac02_pose/episode_93/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_96/pose_data.json ADDED Viewed

	@@ -0,0 +1,450 @@

+[
+  {
+    "timestamp": 1766209939.466856,
+    "position": {
+      "x": -0.10907628213748863,
+      "y": 0.007593043264544644,
+      "z": 0.017426769802128927
+    },
+    "orientation": {
+      "x": -0.3178091639367788,
+      "y": 0.7364959230495367,
+      "z": 0.560214697121414,
+      "w": -0.20671377258997325
+    }
+  },
+  {
+    "timestamp": 1766209939.599546,
+    "position": {
+      "x": -0.10909025690639299,
+      "y": 0.006582792429923115,
+      "z": 0.01751741739264223
+    },
+    "orientation": {
+      "x": -0.3146103020445716,
+      "y": 0.7374003726683087,
+      "z": 0.5609823914777973,
+      "w": -0.2063002779637347
+    }
+  },
+  {
+    "timestamp": 1766209939.7322361,
+    "position": {
+      "x": -0.1098622439866287,
+      "y": 0.0032087668846106365,
+      "z": 0.019121344110349256
+    },
+    "orientation": {
+      "x": -0.3216004398674107,
+      "y": 0.7648735983464853,
+      "z": 0.5173501078470242,
+      "w": -0.2095003616709529
+    }
+  },
+  {
+    "timestamp": 1766209939.864926,
+    "position": {
+      "x": -0.10819280535527243,
+      "y": 0.0006262349061675054,
+      "z": 0.01822729861762963
+    },
+    "orientation": {
+      "x": -0.3176931308759041,
+      "y": 0.7687780349035997,
+      "z": 0.5133568770701732,
+      "w": -0.21098844614998258
+    }
+  },
+  {
+    "timestamp": 1766209939.997616,
+    "position": {
+      "x": -0.10809668360436978,
+      "y": 0.0018288442805913796,
+      "z": 0.01894798430868945
+    },
+    "orientation": {
+      "x": -0.31674142944381045,
+      "y": 0.7598655650561572,
+      "z": 0.52843441264706,
+      "w": -0.20745182921858032
+    }
+  },
+  {
+    "timestamp": 1766209940.130306,
+    "position": {
+      "x": -0.10430179899619152,
+      "y": -0.002882443143442631,
+      "z": 0.01721324772475781
+    },
+    "orientation": {
+      "x": -0.31511869117385805,
+      "y": 0.7804103259787081,
+      "z": 0.49623433127220573,
+      "w": -0.21309955899885863
+    }
+  },
+  {
+    "timestamp": 1766209940.262996,
+    "position": {
+      "x": -0.10493619028461146,
+      "y": -0.004854217705627939,
+      "z": 0.017349203204984107
+    },
+    "orientation": {
+      "x": -0.3218988358784487,
+      "y": 0.8041675067222704,
+      "z": 0.4491807410608498,
+      "w": -0.21893474473507477
+    }
+  },
+  {
+    "timestamp": 1766209940.395687,
+    "position": {
+      "x": -0.10467268001807001,
+      "y": -0.009485565869048806,
+      "z": 0.019050369870233327
+    },
+    "orientation": {
+      "x": -0.32283984857216946,
+      "y": 0.8273005170746027,
+      "z": 0.40246414238810224,
+      "w": -0.2221956361268217
+    }
+  },
+  {
+    "timestamp": 1766209940.528377,
+    "position": {
+      "x": -0.10489983792076907,
+      "y": -0.01083646653394029,
+      "z": 0.019820846091621228
+    },
+    "orientation": {
+      "x": -0.32461419328951097,
+      "y": 0.8408178405127998,
+      "z": 0.3694417450201199,
+      "w": -0.22619412376735318
+    }
+  },
+  {
+    "timestamp": 1766209940.661067,
+    "position": {
+      "x": -0.1032661563516728,
+      "y": -0.0142175100866603,
+      "z": 0.020773810599967232
+    },
+    "orientation": {
+      "x": -0.32626190463960797,
+      "y": 0.8624486825174081,
+      "z": 0.3101450154517617,
+      "w": -0.2313990254848723
+    }
+  },
+  {
+    "timestamp": 1766209940.793757,
+    "position": {
+      "x": -0.10298683677250314,
+      "y": -0.015381119584928216,
+      "z": 0.021593798028791786
+    },
+    "orientation": {
+      "x": -0.32782569527127886,
+      "y": 0.873061357506667,
+      "z": 0.27452860615926156,
+      "w": -0.23436771097736867
+    }
+  },
+  {
+    "timestamp": 1766209940.9264472,
+    "position": {
+      "x": -0.10296698032723292,
+      "y": -0.015073309544186939,
+      "z": 0.021713481082957065
+    },
+    "orientation": {
+      "x": -0.3276468591059726,
+      "y": 0.8737179187033253,
+      "z": 0.27299403020502866,
+      "w": -0.23396323157098076
+    }
+  },
+  {
+    "timestamp": 1766209941.059137,
+    "position": {
+      "x": -0.1035309345221671,
+      "y": -0.013697689067930896,
+      "z": 0.021154531039742616
+    },
+    "orientation": {
+      "x": -0.32900752098872116,
+      "y": 0.8678999259995392,
+      "z": 0.28898079258724446,
+      "w": -0.23450772076522003
+    }
+  },
+  {
+    "timestamp": 1766209941.191827,
+    "position": {
+      "x": -0.1048123657709788,
+      "y": -0.011692037914521558,
+      "z": 0.020221121944900694
+    },
+    "orientation": {
+      "x": -0.3271274457080809,
+      "y": 0.8538546382849784,
+      "z": 0.3335275183239486,
+      "w": -0.2295196842634713
+    }
+  },
+  {
+    "timestamp": 1766209941.324517,
+    "position": {
+      "x": -0.1051330648591757,
+      "y": -0.007682386369749258,
+      "z": 0.01879233053116247
+    },
+    "orientation": {
+      "x": -0.32467204282405066,
+      "y": 0.825168230782077,
+      "z": 0.40479891598824513,
+      "w": -0.22321131945126887
+    }
+  },
+  {
+    "timestamp": 1766209941.457207,
+    "position": {
+      "x": -0.10353277646438538,
+      "y": -0.0035399700407301726,
+      "z": 0.01674743173978288
+    },
+    "orientation": {
+      "x": -0.31674239227911116,
+      "y": 0.7867292723964233,
+      "z": 0.4848157738256023,
+      "w": -0.2137404368335166
+    }
+  },
+  {
+    "timestamp": 1766209941.589898,
+    "position": {
+      "x": -0.10533787036133355,
+      "y": 0.0025014122689356044,
+      "z": 0.016578007969942493
+    },
+    "orientation": {
+      "x": -0.303878582144981,
+      "y": 0.7346983440111583,
+      "z": 0.5720200517966565,
+      "w": -0.20166608778713438
+    }
+  },
+  {
+    "timestamp": 1766209941.722588,
+    "position": {
+      "x": -0.10682175635282284,
+      "y": 0.006239217874475095,
+      "z": 0.01765197928602072
+    },
+    "orientation": {
+      "x": -0.28502508521617465,
+      "y": 0.6854216067672648,
+      "z": 0.6429720754448329,
+      "w": -0.18853337097781286
+    }
+  },
+  {
+    "timestamp": 1766209941.855278,
+    "position": {
+      "x": -0.10735344139486741,
+      "y": 0.00926961373952323,
+      "z": 0.018781077864155934
+    },
+    "orientation": {
+      "x": -0.27027171908144587,
+      "y": 0.6422162367829869,
+      "z": 0.6948768646837926,
+      "w": -0.17792595652203366
+    }
+  },
+  {
+    "timestamp": 1766209941.987968,
+    "position": {
+      "x": -0.10820081731355752,
+      "y": 0.010887737995829622,
+      "z": 0.019464559781041876
+    },
+    "orientation": {
+      "x": -0.2636671653556621,
+      "y": 0.6226959389634409,
+      "z": 0.7163038983129123,
+      "w": -0.17215725013334104
+    }
+  },
+  {
+    "timestamp": 1766209942.120658,
+    "position": {
+      "x": -0.10846849537739245,
+      "y": 0.011278047970822047,
+      "z": 0.019512605754299084
+    },
+    "orientation": {
+      "x": -0.26942566195569984,
+      "y": 0.6292183677480603,
+      "z": 0.7076259208504913,
+      "w": -0.1753841911595632
+    }
+  },
+  {
+    "timestamp": 1766209942.253348,
+    "position": {
+      "x": -0.10579271690650655,
+      "y": 0.006415633635577206,
+      "z": 0.0166246934548734
+    },
+    "orientation": {
+      "x": -0.2763510983853938,
+      "y": 0.6694517738627047,
+      "z": 0.6638345834870397,
+      "w": -0.18651551854967255
+    }
+  },
+  {
+    "timestamp": 1766209942.386038,
+    "position": {
+      "x": -0.10192801150931216,
+      "y": 0.0028118692168600107,
+      "z": 0.01464908012565963
+    },
+    "orientation": {
+      "x": -0.29050424885291176,
+      "y": 0.714345116661094,
+      "z": 0.6052226771875427,
+      "w": -0.1975445436320546
+    }
+  },
+  {
+    "timestamp": 1766209942.518728,
+    "position": {
+      "x": -0.10155236313548191,
+      "y": -0.0009839108164955007,
+      "z": 0.014548041456054747
+    },
+    "orientation": {
+      "x": -0.30205666369526424,
+      "y": 0.7511471347839879,
+      "z": 0.5490375140180718,
+      "w": -0.20759952317851607
+    }
+  },
+  {
+    "timestamp": 1766209942.651418,
+    "position": {
+      "x": -0.10081412021531849,
+      "y": -0.004510054480997255,
+      "z": 0.014656899779128638
+    },
+    "orientation": {
+      "x": -0.31052676797043305,
+      "y": 0.783438801997367,
+      "z": 0.49317240290776054,
+      "w": -0.21581879183461436
+    }
+  },
+  {
+    "timestamp": 1766209942.784109,
+    "position": {
+      "x": -0.09971398326340059,
+      "y": -0.007401146300336156,
+      "z": 0.014612832741883533
+    },
+    "orientation": {
+      "x": -0.3177020104108925,
+      "y": 0.8079703314797174,
+      "z": 0.44437000793193715,
+      "w": -0.22087252450226283
+    }
+  },
+  {
+    "timestamp": 1766209942.916799,
+    "position": {
+      "x": -0.10092628507039714,
+      "y": -0.009751785050841635,
+      "z": 0.016071010571979724
+    },
+    "orientation": {
+      "x": -0.32244600742306234,
+      "y": 0.8272447091189319,
+      "z": 0.4005896130079502,
+      "w": -0.2263243811033199
+    }
+  },
+  {
+    "timestamp": 1766209943.049489,
+    "position": {
+      "x": -0.10069898656468698,
+      "y": -0.013146960272570458,
+      "z": 0.0171664311819026
+    },
+    "orientation": {
+      "x": -0.32469157615390354,
+      "y": 0.8466659487343283,
+      "z": 0.353552032598642,
+      "w": -0.22963691313432671
+    }
+  },
+  {
+    "timestamp": 1766209943.182179,
+    "position": {
+      "x": -0.10037544502386159,
+      "y": -0.01631681688015888,
+      "z": 0.018985685992744042
+    },
+    "orientation": {
+      "x": -0.3258679101244967,
+      "y": 0.8616442715728764,
+      "z": 0.31184574290205924,
+      "w": -0.2326617438484527
+    }
+  },
+  {
+    "timestamp": 1766209943.314869,
+    "position": {
+      "x": -0.0999712915302853,
+      "y": -0.018042057120058075,
+      "z": 0.0199278610568471
+    },
+    "orientation": {
+      "x": -0.3261704804811537,
+      "y": 0.8731750100052489,
+      "z": 0.27508843744134504,
+      "w": -0.23559408131594917
+    }
+  },
+  {
+    "timestamp": 1766209943.447559,
+    "position": {
+      "x": -0.1001344901364962,
+      "y": -0.017884784059298317,
+      "z": 0.02063239348405224
+    },
+    "orientation": {
+      "x": -0.3271463697446564,
+      "y": 0.874840685394496,
+      "z": 0.268515495733179,
+      "w": -0.23564476759000189
+    }
+  },
+  {
+    "timestamp": 1766209943.580249,
+    "position": {
+      "x": -0.10114518237240475,
+      "y": -0.017302377812121253,
+      "z": 0.02048713502471443
+    },
+    "orientation": {
+      "x": -0.32711012266984024,
+      "y": 0.8729648204689809,
+      "z": 0.27589207531151455,
+      "w": -0.23412593331535803
+    }
+  }
+]

recorded_tac02_pose/episode_96/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 102,
+  "start_time": "2025-12-20T13:52:27.132500",
+  "ros_start_time": 1766209947.132524,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:52:31.478018",
+  "ros_end_time": 1766209951.4780238,
+  "total_tactile_frames": 862,
+  "total_pose_frames": 32
+}

recorded_tac02_pose/episode_96/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_97/pose_data.json ADDED Viewed

	@@ -0,0 +1,450 @@

+[
+  {
+    "timestamp": 1766209944.90715,
+    "position": {
+      "x": -0.09897212738950356,
+      "y": -0.011909061213434685,
+      "z": 0.015052568399694002
+    },
+    "orientation": {
+      "x": -0.33406336680293924,
+      "y": 0.8553614798654327,
+      "z": 0.318482337018135,
+      "w": -0.23521778574369942
+    }
+  },
+  {
+    "timestamp": 1766209945.03984,
+    "position": {
+      "x": -0.10049422450089512,
+      "y": -0.009619383900248808,
+      "z": 0.014882861487195378
+    },
+    "orientation": {
+      "x": -0.33421657598229654,
+      "y": 0.8470223152647672,
+      "z": 0.3412306961726157,
+      "w": -0.23326827853725668
+    }
+  },
+  {
+    "timestamp": 1766209945.17253,
+    "position": {
+      "x": -0.10135681267286867,
+      "y": -0.007477006241766761,
+      "z": 0.014995083469017359
+    },
+    "orientation": {
+      "x": -0.33448747488130254,
+      "y": 0.8382661905325951,
+      "z": 0.36355596109077676,
+      "w": -0.23077041862609374
+    }
+  },
+  {
+    "timestamp": 1766209945.305221,
+    "position": {
+      "x": -0.10227786724184446,
+      "y": -0.008418404782805103,
+      "z": 0.01671592632863525
+    },
+    "orientation": {
+      "x": -0.3328120359195365,
+      "y": 0.8376535359241997,
+      "z": 0.3669731828440836,
+      "w": -0.23000735982585754
+    }
+  },
+  {
+    "timestamp": 1766209945.437911,
+    "position": {
+      "x": -0.10260544285840956,
+      "y": -0.009042011602797814,
+      "z": 0.018182888176598494
+    },
+    "orientation": {
+      "x": -0.32972926688592497,
+      "y": 0.8357143164170512,
+      "z": 0.3757004706331442,
+      "w": -0.2273968958901709
+    }
+  },
+  {
+    "timestamp": 1766209945.570601,
+    "position": {
+      "x": -0.10232921878371085,
+      "y": -0.007769618821979858,
+      "z": 0.017610317299655384
+    },
+    "orientation": {
+      "x": -0.3279617506100533,
+      "y": 0.8256362997017322,
+      "z": 0.40043214423383927,
+      "w": -0.22454373430561445
+    }
+  },
+  {
+    "timestamp": 1766209945.703291,
+    "position": {
+      "x": -0.10246306792401491,
+      "y": -0.004616015567771609,
+      "z": 0.016505741087391265
+    },
+    "orientation": {
+      "x": -0.3215409764291798,
+      "y": 0.799614841893743,
+      "z": 0.45770108172914464,
+      "w": -0.21848850057654007
+    }
+  },
+  {
+    "timestamp": 1766209945.8359811,
+    "position": {
+      "x": -0.10190718516939773,
+      "y": 0.0026847589688950707,
+      "z": 0.01431303894741752
+    },
+    "orientation": {
+      "x": -0.3136341601918086,
+      "y": 0.7532988278047439,
+      "z": 0.5384972765648317,
+      "w": -0.21022647959055196
+    }
+  },
+  {
+    "timestamp": 1766209945.968671,
+    "position": {
+      "x": -0.1031394914867648,
+      "y": 0.006750750095892155,
+      "z": 0.014938882250459307
+    },
+    "orientation": {
+      "x": -0.29971366900709,
+      "y": 0.7122503577320629,
+      "z": 0.6023592546031132,
+      "w": -0.20008616372662805
+    }
+  },
+  {
+    "timestamp": 1766209946.101361,
+    "position": {
+      "x": -0.10479191210740837,
+      "y": 0.01080253145323165,
+      "z": 0.0159126065147341
+    },
+    "orientation": {
+      "x": -0.28270797922860774,
+      "y": 0.6641569964003349,
+      "z": 0.6654959791348963,
+      "w": -0.18996521883820766
+    }
+  },
+  {
+    "timestamp": 1766209946.234051,
+    "position": {
+      "x": -0.10572848609531146,
+      "y": 0.015370053139261541,
+      "z": 0.017029123726129566
+    },
+    "orientation": {
+      "x": -0.2776836149711507,
+      "y": 0.6301354054031174,
+      "z": 0.7018501469767009,
+      "w": -0.18228426158828465
+    }
+  },
+  {
+    "timestamp": 1766209946.366741,
+    "position": {
+      "x": -0.1057159171665128,
+      "y": 0.015618229659159807,
+      "z": 0.017294218986648915
+    },
+    "orientation": {
+      "x": -0.27879754908124305,
+      "y": 0.6282310427981307,
+      "z": 0.7031125503466219,
+      "w": -0.18229214200325244
+    }
+  },
+  {
+    "timestamp": 1766209946.499432,
+    "position": {
+      "x": -0.10546293140095245,
+      "y": 0.014106119016987939,
+      "z": 0.016436002336087954
+    },
+    "orientation": {
+      "x": -0.2868289723815646,
+      "y": 0.6504362136939884,
+      "z": 0.6773789442717207,
+      "w": -0.18926076818847862
+    }
+  },
+  {
+    "timestamp": 1766209946.632122,
+    "position": {
+      "x": -0.10264552490624862,
+      "y": 0.00953120413812615,
+      "z": 0.014488869627627285
+    },
+    "orientation": {
+      "x": -0.29956765493222176,
+      "y": 0.6977341465014988,
+      "z": 0.6194458543251461,
+      "w": -0.19928149558758354
+    }
+  },
+  {
+    "timestamp": 1766209946.764812,
+    "position": {
+      "x": -0.10047405304102933,
+      "y": 0.0034017935864126825,
+      "z": 0.01295319314412871
+    },
+    "orientation": {
+      "x": -0.31547621273048887,
+      "y": 0.7556491786455068,
+      "z": 0.5324993109859473,
+      "w": -0.21427450108001603
+    }
+  },
+  {
+    "timestamp": 1766209946.897502,
+    "position": {
+      "x": -0.09940992292740164,
+      "y": -0.0036424497889602364,
+      "z": 0.014103299567396352
+    },
+    "orientation": {
+      "x": -0.3251280803980895,
+      "y": 0.8033437253065534,
+      "z": 0.4468956905873938,
+      "w": -0.22184416170289117
+    }
+  },
+  {
+    "timestamp": 1766209947.0301921,
+    "position": {
+      "x": -0.10116602210955589,
+      "y": -0.00953530015225297,
+      "z": 0.016733599092087742
+    },
+    "orientation": {
+      "x": -0.3302987673958898,
+      "y": 0.8399379572602668,
+      "z": 0.3646479051819334,
+      "w": -0.2289953219099333
+    }
+  },
+  {
+    "timestamp": 1766209947.162882,
+    "position": {
+      "x": -0.10165161179517912,
+      "y": -0.013307957701384696,
+      "z": 0.020294744354952862
+    },
+    "orientation": {
+      "x": -0.3315938962826792,
+      "y": 0.8636700877862292,
+      "z": 0.3003095477287163,
+      "w": -0.23223617925373471
+    }
+  },
+  {
+    "timestamp": 1766209947.295572,
+    "position": {
+      "x": -0.10077553385929292,
+      "y": -0.019114211439686266,
+      "z": 0.024344366466612546
+    },
+    "orientation": {
+      "x": -0.32929848190293304,
+      "y": 0.8877410295238424,
+      "z": 0.21841588394376493,
+      "w": -0.2361628166275035
+    }
+  },
+  {
+    "timestamp": 1766209947.428262,
+    "position": {
+      "x": -0.10002748254557331,
+      "y": -0.020835568588406905,
+      "z": 0.025880654779215653
+    },
+    "orientation": {
+      "x": -0.3286164242983135,
+      "y": 0.8971896014536548,
+      "z": 0.1743965664920145,
+      "w": -0.23800819801136933
+    }
+  },
+  {
+    "timestamp": 1766209947.560952,
+    "position": {
+      "x": -0.10016295656617816,
+      "y": -0.020501529369232274,
+      "z": 0.025835331681823837
+    },
+    "orientation": {
+      "x": -0.3277195766020244,
+      "y": 0.8984634878403744,
+      "z": 0.1664583712876155,
+      "w": -0.24011424522042335
+    }
+  },
+  {
+    "timestamp": 1766209947.693643,
+    "position": {
+      "x": -0.09987985623015566,
+      "y": -0.019748669863023288,
+      "z": 0.025606856211574394
+    },
+    "orientation": {
+      "x": -0.32913168470171245,
+      "y": 0.8960149647730821,
+      "z": 0.17902797275320184,
+      "w": -0.23828239968571763
+    }
+  },
+  {
+    "timestamp": 1766209947.826333,
+    "position": {
+      "x": -0.10114851698224808,
+      "y": -0.017611663136152776,
+      "z": 0.023726197126077375
+    },
+    "orientation": {
+      "x": -0.3314488779505333,
+      "y": 0.8871565871566615,
+      "z": 0.21677436263432484,
+      "w": -0.23686221073518554
+    }
+  },
+  {
+    "timestamp": 1766209947.959023,
+    "position": {
+      "x": -0.10161892560478988,
+      "y": -0.01530732808260761,
+      "z": 0.021169012839839213
+    },
+    "orientation": {
+      "x": -0.3322769575359456,
+      "y": 0.8747026526134046,
+      "z": 0.2632467762991405,
+      "w": -0.23492217385729944
+    }
+  },
+  {
+    "timestamp": 1766209948.091713,
+    "position": {
+      "x": -0.10136776807873696,
+      "y": -0.00998293007181053,
+      "z": 0.017057549664295582
+    },
+    "orientation": {
+      "x": -0.33366746097773836,
+      "y": 0.8484589915826571,
+      "z": 0.34155943627898167,
+      "w": -0.2282991821623424
+    }
+  },
+  {
+    "timestamp": 1766209948.2244031,
+    "position": {
+      "x": -0.09946341035782386,
+      "y": -0.0036486734321913156,
+      "z": 0.013504302066091656
+    },
+    "orientation": {
+      "x": -0.32787789359490005,
+      "y": 0.8083343256074977,
+      "z": 0.4351906613186314,
+      "w": -0.2229367471672081
+    }
+  },
+  {
+    "timestamp": 1766209948.357093,
+    "position": {
+      "x": -0.09955123908921348,
+      "y": 0.0018078738565349695,
+      "z": 0.012763348007667721
+    },
+    "orientation": {
+      "x": -0.3183963924269287,
+      "y": 0.7680343550129649,
+      "z": 0.5118877223588855,
+      "w": -0.21614330086211014
+    }
+  },
+  {
+    "timestamp": 1766209948.489783,
+    "position": {
+      "x": -0.10063380627148766,
+      "y": 0.005883836987832736,
+      "z": 0.01269538107654293
+    },
+    "orientation": {
+      "x": -0.31286259482697115,
+      "y": 0.7399226540237869,
+      "z": 0.5570562730693882,
+      "w": -0.2105226150668212
+    }
+  },
+  {
+    "timestamp": 1766209948.622473,
+    "position": {
+      "x": -0.10097632796748152,
+      "y": 0.007554601092961202,
+      "z": 0.01286947211942134
+    },
+    "orientation": {
+      "x": -0.3050663558296704,
+      "y": 0.7190981923477353,
+      "z": 0.5897741076246956,
+      "w": -0.204936112675434
+    }
+  },
+  {
+    "timestamp": 1766209948.755163,
+    "position": {
+      "x": -0.10093486908650334,
+      "y": 0.010349737645560325,
+      "z": 0.012870399728862586
+    },
+    "orientation": {
+      "x": -0.29796365381987355,
+      "y": 0.695804059413661,
+      "z": 0.6217791834398393,
+      "w": -0.20115918807419098
+    }
+  },
+  {
+    "timestamp": 1766209948.8878531,
+    "position": {
+      "x": -0.1031422914653512,
+      "y": 0.010052716041436052,
+      "z": 0.014288391341815476
+    },
+    "orientation": {
+      "x": -0.29652212338176187,
+      "y": 0.6920589054038492,
+      "z": 0.6274502591452882,
+      "w": -0.19858316669573975
+    }
+  },
+  {
+    "timestamp": 1766209949.020544,
+    "position": {
+      "x": -0.10052334112911596,
+      "y": 0.007886921032432659,
+      "z": 0.012917707792505631
+    },
+    "orientation": {
+      "x": -0.3023937784497571,
+      "y": 0.7130803565268737,
+      "z": 0.5986954307398809,
+      "w": -0.20405437780546262
+    }
+  }
+]

recorded_tac02_pose/episode_97/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 103,
+  "start_time": "2025-12-20T13:52:32.707127",
+  "ros_start_time": 1766209952.7071395,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:52:36.901476",
+  "ros_end_time": 1766209956.9014966,
+  "total_tactile_frames": 831,
+  "total_pose_frames": 32
+}

recorded_tac02_pose/episode_97/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff

recorded_tac02_pose/episode_98/pose_data.json ADDED Viewed

	@@ -0,0 +1,422 @@

+[
+  {
+    "timestamp": 1766209950.347445,
+    "position": {
+      "x": -0.10352474720691562,
+      "y": -0.012187964975879303,
+      "z": 0.023684772480008
+    },
+    "orientation": {
+      "x": -0.33699502106418605,
+      "y": 0.8727579859150543,
+      "z": 0.26490146239565165,
+      "w": -0.2335702657019761
+    }
+  },
+  {
+    "timestamp": 1766209950.480135,
+    "position": {
+      "x": -0.10297684443330327,
+      "y": -0.013228432015060083,
+      "z": 0.023543233701233887
+    },
+    "orientation": {
+      "x": -0.3366023217656361,
+      "y": 0.8732892806952113,
+      "z": 0.2629762095278756,
+      "w": -0.23432503585228487
+    }
+  },
+  {
+    "timestamp": 1766209950.6128252,
+    "position": {
+      "x": -0.10250913874218032,
+      "y": -0.01338895694986636,
+      "z": 0.022590177996627422
+    },
+    "orientation": {
+      "x": -0.33672149353790537,
+      "y": 0.8721590893673635,
+      "z": 0.26795810054351915,
+      "w": -0.2327135900127085
+    }
+  },
+  {
+    "timestamp": 1766209950.745515,
+    "position": {
+      "x": -0.10287408434338202,
+      "y": -0.012611987342679688,
+      "z": 0.02208239533638709
+    },
+    "orientation": {
+      "x": -0.3356447603850948,
+      "y": 0.8661356918536034,
+      "z": 0.28943543692821094,
+      "w": -0.23103827815642952
+    }
+  },
+  {
+    "timestamp": 1766209950.878205,
+    "position": {
+      "x": -0.10217649617037122,
+      "y": -0.009344440106284775,
+      "z": 0.01867659591093039
+    },
+    "orientation": {
+      "x": -0.3358303584826926,
+      "y": 0.8466243248155839,
+      "z": 0.3442038350190807,
+      "w": -0.22796697767461924
+    }
+  },
+  {
+    "timestamp": 1766209951.010895,
+    "position": {
+      "x": -0.10022121126371464,
+      "y": -0.003904285296219112,
+      "z": 0.01581192025839316
+    },
+    "orientation": {
+      "x": -0.3296065884895982,
+      "y": 0.8099281074567366,
+      "z": 0.43186260033327994,
+      "w": -0.22106707581450294
+    }
+  },
+  {
+    "timestamp": 1766209951.143585,
+    "position": {
+      "x": -0.10140381176011526,
+      "y": 0.001780315866544202,
+      "z": 0.015248722588167715
+    },
+    "orientation": {
+      "x": -0.31909472307766273,
+      "y": 0.766326394388882,
+      "z": 0.5156298537253559,
+      "w": -0.21224577478502063
+    }
+  },
+  {
+    "timestamp": 1766209951.276275,
+    "position": {
+      "x": -0.10178910647692754,
+      "y": 0.006576212936069234,
+      "z": 0.015508095929820068
+    },
+    "orientation": {
+      "x": -0.30094660906900994,
+      "y": 0.7154501375651938,
+      "z": 0.59723580576161,
+      "w": -0.2021673353044223
+    }
+  },
+  {
+    "timestamp": 1766209951.408966,
+    "position": {
+      "x": -0.10432380972903718,
+      "y": 0.011506217425624202,
+      "z": 0.017414434451741845
+    },
+    "orientation": {
+      "x": -0.29084668563449473,
+      "y": 0.6706927279799095,
+      "z": 0.6551790549674872,
+      "w": -0.19057774272513173
+    }
+  },
+  {
+    "timestamp": 1766209951.541656,
+    "position": {
+      "x": -0.10473435778469986,
+      "y": 0.014069534261253097,
+      "z": 0.01767416983305052
+    },
+    "orientation": {
+      "x": -0.2867347243978449,
+      "y": 0.6509552929594447,
+      "z": 0.6775186364772665,
+      "w": -0.18710665840252977
+    }
+  },
+  {
+    "timestamp": 1766209951.674346,
+    "position": {
+      "x": -0.10538106523780613,
+      "y": 0.015399136982116216,
+      "z": 0.017858592225610967
+    },
+    "orientation": {
+      "x": -0.28912580854702363,
+      "y": 0.6487295833825074,
+      "z": 0.6782965455828319,
+      "w": -0.18833478363484907
+    }
+  },
+  {
+    "timestamp": 1766209951.807036,
+    "position": {
+      "x": -0.10444872274469139,
+      "y": 0.012861587671773575,
+      "z": 0.017077523724410015
+    },
+    "orientation": {
+      "x": -0.2953461676656508,
+      "y": 0.6712970632520228,
+      "z": 0.6520596503578547,
+      "w": -0.19222150371281344
+    }
+  },
+  {
+    "timestamp": 1766209951.939726,
+    "position": {
+      "x": -0.09997412680445728,
+      "y": 0.00822612882000677,
+      "z": 0.01483803412131969
+    },
+    "orientation": {
+      "x": -0.3065759707767206,
+      "y": 0.715307409603373,
+      "z": 0.5941717478633508,
+      "w": -0.20323980404889827
+    }
+  },
+  {
+    "timestamp": 1766209952.072416,
+    "position": {
+      "x": -0.09959648205417188,
+      "y": 0.0011453823384307282,
+      "z": 0.014827717598398446
+    },
+    "orientation": {
+      "x": -0.318924418993859,
+      "y": 0.7703863495558138,
+      "z": 0.5090847730193047,
+      "w": -0.21359958161798914
+    }
+  },
+  {
+    "timestamp": 1766209952.205106,
+    "position": {
+      "x": -0.09873442657321185,
+      "y": -0.004391323737581193,
+      "z": 0.015480794254797578
+    },
+    "orientation": {
+      "x": -0.32987000987650317,
+      "y": 0.8134451477718022,
+      "z": 0.42390341071989907,
+      "w": -0.2231561483146346
+    }
+  },
+  {
+    "timestamp": 1766209952.337796,
+    "position": {
+      "x": -0.10056063824947523,
+      "y": -0.00930501819288626,
+      "z": 0.018163094301916427
+    },
+    "orientation": {
+      "x": -0.3331497623459663,
+      "y": 0.839469779794081,
+      "z": 0.36390840921227674,
+      "w": -0.22775511929678594
+    }
+  },
+  {
+    "timestamp": 1766209952.470486,
+    "position": {
+      "x": -0.0998165460442488,
+      "y": -0.012184451043434026,
+      "z": 0.01976040349543587
+    },
+    "orientation": {
+      "x": -0.33671766701073724,
+      "y": 0.859970006871376,
+      "z": 0.30556941607101,
+      "w": -0.23173288926372465
+    }
+  },
+  {
+    "timestamp": 1766209952.603177,
+    "position": {
+      "x": -0.10061960798152089,
+      "y": -0.014214839000860208,
+      "z": 0.021248377683789066
+    },
+    "orientation": {
+      "x": -0.33649084639065474,
+      "y": 0.8715114056396575,
+      "z": 0.2698206187679336,
+      "w": -0.23332083880994953
+    }
+  },
+  {
+    "timestamp": 1766209952.735867,
+    "position": {
+      "x": -0.10015399662183538,
+      "y": -0.016687374531117502,
+      "z": 0.023394616926171674
+    },
+    "orientation": {
+      "x": -0.3350727618520575,
+      "y": 0.8838752404050749,
+      "z": 0.2249678555714275,
+      "w": -0.23639007513704702
+    }
+  },
+  {
+    "timestamp": 1766209952.868557,
+    "position": {
+      "x": -0.10044813304966957,
+      "y": -0.017782874759423827,
+      "z": 0.02428438591199243
+    },
+    "orientation": {
+      "x": -0.33377958364744653,
+      "y": 0.8905507132776483,
+      "z": 0.19839710023662196,
+      "w": -0.23695823944000916
+    }
+  },
+  {
+    "timestamp": 1766209953.001247,
+    "position": {
+      "x": -0.10055086551485837,
+      "y": -0.017427588834561934,
+      "z": 0.024862421178984864
+    },
+    "orientation": {
+      "x": -0.33475293742241896,
+      "y": 0.8894146410816084,
+      "z": 0.20161827320269277,
+      "w": -0.23713316728686498
+    }
+  },
+  {
+    "timestamp": 1766209953.1339371,
+    "position": {
+      "x": -0.1004952657570127,
+      "y": -0.0156395630623182,
+      "z": 0.022743444661544904
+    },
+    "orientation": {
+      "x": -0.3360653965272423,
+      "y": 0.8805973671925129,
+      "z": 0.23609547847438228,
+      "w": -0.23636254186007277
+    }
+  },
+  {
+    "timestamp": 1766209953.266627,
+    "position": {
+      "x": -0.10044244351701945,
+      "y": -0.013692378527049673,
+      "z": 0.020916474537048466
+    },
+    "orientation": {
+      "x": -0.3349864519693631,
+      "y": 0.8677407716349248,
+      "z": 0.2836187094699844,
+      "w": -0.2331747367919247
+    }
+  },
+  {
+    "timestamp": 1766209953.399317,
+    "position": {
+      "x": -0.09933443520990426,
+      "y": -0.009892638707525832,
+      "z": 0.017710088188801987
+    },
+    "orientation": {
+      "x": -0.3333405808057832,
+      "y": 0.8430311845325719,
+      "z": 0.3546156273982126,
+      "w": -0.22897649638913553
+    }
+  },
+  {
+    "timestamp": 1766209953.532007,
+    "position": {
+      "x": -0.09832907554292003,
+      "y": -0.004038568547236651,
+      "z": 0.015085024521271348
+    },
+    "orientation": {
+      "x": -0.3263575434859999,
+      "y": 0.8059417619732065,
+      "z": 0.44140576627837314,
+      "w": -0.2216068131026417
+    }
+  },
+  {
+    "timestamp": 1766209953.664697,
+    "position": {
+      "x": -0.0976486640503837,
+      "y": 0.001934274637130945,
+      "z": 0.013533634004975217
+    },
+    "orientation": {
+      "x": -0.3124531090604026,
+      "y": 0.7587497130854873,
+      "z": 0.5302392699532607,
+      "w": -0.21335005069278046
+    }
+  },
+  {
+    "timestamp": 1766209953.7973871,
+    "position": {
+      "x": -0.09948569794926201,
+      "y": 0.008673645782530978,
+      "z": 0.014107399098603063
+    },
+    "orientation": {
+      "x": -0.30072315403758304,
+      "y": 0.707918153608065,
+      "z": 0.6061421299548362,
+      "w": -0.20250726088624738
+    }
+  },
+  {
+    "timestamp": 1766209953.930078,
+    "position": {
+      "x": -0.10043188928345043,
+      "y": 0.0117437921318949,
+      "z": 0.01451978281391908
+    },
+    "orientation": {
+      "x": -0.2895394927432474,
+      "y": 0.6734367210237242,
+      "z": 0.6512436039196509,
+      "w": -0.19629476119484776
+    }
+  },
+  {
+    "timestamp": 1766209954.062768,
+    "position": {
+      "x": -0.1016381605995908,
+      "y": 0.012793489802837399,
+      "z": 0.015119610527580263
+    },
+    "orientation": {
+      "x": -0.28631880570552476,
+      "y": 0.6638004562401771,
+      "z": 0.6632407339139477,
+      "w": -0.1936549113035419
+    }
+  },
+  {
+    "timestamp": 1766209954.195458,
+    "position": {
+      "x": -0.1002138678616688,
+      "y": 0.010014892379448984,
+      "z": 0.01436025734653569
+    },
+    "orientation": {
+      "x": -0.29584463972226355,
+      "y": 0.6926962712034418,
+      "z": 0.6265701114987112,
+      "w": -0.20014424894296778
+    }
+  }
+]

recorded_tac02_pose/episode_98/session_info.json ADDED Viewed

	@@ -0,0 +1,13 @@

+{
+  "session_id": 104,
+  "start_time": "2025-12-20T13:52:38.164315",
+  "ros_start_time": 1766209958.1643364,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:52:42.191490",
+  "ros_end_time": 1766209962.1915033,
+  "total_tactile_frames": 796,
+  "total_pose_frames": 30
+}

recorded_tac02_pose/episode_98/tactile_data.json ADDED Viewed

The diff for this file is too large to render. See raw diff