Hugging Face's logo

Datasets:
JJaechoel
/
ACT_test_JC

Tags:
robotis
cyclo_intelligence
robotics
Dataset card Files
xet
 Community
JJaechoel commited on
Commit
a13d8a2
·
verified ·
1 Parent(s): 1c2e6ed

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. 11/camera_info/cam_left_head.yaml +55 -0
  2. 11/camera_info/cam_left_wrist.yaml +55 -0
  3. 11/camera_info/cam_right_head.yaml +55 -0
  4. 11/camera_info/cam_right_wrist.yaml +55 -0
  5. 11/camera_info/camera_metadata.yaml +23 -0
  6. 11/videos/11_0/cam_left_head_recorder_stats.json +43 -0
  7. 11/videos/11_0/cam_left_wrist_recorder_stats.json +43 -0
  8. 11/videos/11_0/cam_right_head_recorder_stats.json +43 -0
  9. 11/videos/11_0/cam_right_wrist_recorder_stats.json +43 -0
  10. 14/camera_info/cam_left_head.yaml +55 -0
  11. 14/camera_info/cam_left_wrist.yaml +55 -0
  12. 14/camera_info/cam_right_head.yaml +55 -0
  13. 14/camera_info/cam_right_wrist.yaml +55 -0
  14. 14/camera_info/camera_metadata.yaml +23 -0
  15. 14/videos/14_0/cam_left_head_recorder_stats.json +43 -0
  16. 14/videos/14_0/cam_left_wrist_recorder_stats.json +43 -0
  17. 14/videos/14_0/cam_right_head_recorder_stats.json +43 -0
  18. 14/videos/14_0/cam_right_wrist_recorder_stats.json +43 -0
  19. 16/camera_info/camera_metadata.yaml +23 -0
  20. 20/camera_info/cam_left_head.yaml +55 -0
  21. 20/camera_info/cam_left_wrist.yaml +55 -0
  22. 20/camera_info/cam_right_head.yaml +55 -0
  23. 20/camera_info/cam_right_wrist.yaml +55 -0
  24. 20/camera_info/camera_metadata.yaml +23 -0
  25. 20/videos/20_0/cam_left_head_recorder_stats.json +43 -0
  26. 20/videos/20_0/cam_left_wrist_recorder_stats.json +43 -0
  27. 20/videos/20_0/cam_right_head_recorder_stats.json +43 -0
  28. 20/videos/20_0/cam_right_wrist_recorder_stats.json +43 -0
  29. 22/camera_info/cam_left_head.yaml +55 -0
  30. 22/camera_info/cam_left_wrist.yaml +55 -0
  31. 22/camera_info/cam_right_head.yaml +55 -0
  32. 22/camera_info/cam_right_wrist.yaml +55 -0
  33. 22/camera_info/camera_metadata.yaml +23 -0
  34. 22/videos/22_0/cam_left_head_recorder_stats.json +43 -0
  35. 22/videos/22_0/cam_left_wrist_recorder_stats.json +43 -0
  36. 22/videos/22_0/cam_right_head_recorder_stats.json +43 -0
  37. 22/videos/22_0/cam_right_wrist_recorder_stats.json +43 -0
  38. 23/camera_info/cam_left_head.yaml +55 -0
  39. 23/camera_info/cam_left_wrist.yaml +55 -0
  40. 23/camera_info/cam_right_wrist.yaml +55 -0
  41. 23/videos/23_0/cam_left_head_recorder_stats.json +43 -0
  42. 23/videos/23_0/cam_left_wrist_recorder_stats.json +43 -0
  43. 23/videos/23_0/cam_right_head_recorder_stats.json +43 -0
  44. 23/videos/23_0/cam_right_wrist_recorder_stats.json +43 -0
  45. 25/camera_info/cam_left_head.yaml +55 -0
  46. 25/camera_info/cam_left_wrist.yaml +55 -0
  47. 25/camera_info/cam_right_head.yaml +55 -0
  48. 25/camera_info/cam_right_wrist.yaml +55 -0
  49. 25/camera_info/camera_metadata.yaml +23 -0
  50. 25/videos/25_0/cam_left_head_recorder_stats.json +43 -0
11/camera_info/cam_left_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_left_camera_optical_frame
3
+ stamp:
4
+ sec: 1783067852
5
+ nanosec: 168779484
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - 0.0
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
11/camera_info/cam_left_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_left_color_optical_frame
3
+ stamp:
4
+ sec: 1783067852
5
+ nanosec: 178209717
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05390038341283798
11
+ - 0.05999734625220299
12
+ - -0.0001955493789864704
13
+ - 0.00022923003416508436
14
+ - -0.020182626321911812
15
+ k:
16
+ - 392.8999938964844
17
+ - 0.0
18
+ - 322.5819091796875
19
+ - 0.0
20
+ - 392.46600341796875
21
+ - 241.36207580566406
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 392.8999938964844
37
+ - 0.0
38
+ - 322.5819091796875
39
+ - 0.0
40
+ - 0.0
41
+ - 392.46600341796875
42
+ - 241.36207580566406
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
11/camera_info/cam_right_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_right_camera_optical_frame
3
+ stamp:
4
+ sec: 1783067852
5
+ nanosec: 168779484
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - -46.180625915527344
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
11/camera_info/cam_right_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_right_color_optical_frame
3
+ stamp:
4
+ sec: 1783067852
5
+ nanosec: 162123779
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05225568264722824
11
+ - 0.058933865278959274
12
+ - 2.339007733098697e-05
13
+ - 0.00047302478924393654
14
+ - -0.01994648575782776
15
+ k:
16
+ - 391.7255859375
17
+ - 0.0
18
+ - 323.91400146484375
19
+ - 0.0
20
+ - 391.1866760253906
21
+ - 241.0968017578125
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 391.7255859375
37
+ - 0.0
38
+ - 323.91400146484375
39
+ - 0.0
40
+ - 0.0
41
+ - 391.1866760253906
42
+ - 241.0968017578125
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
11/camera_info/camera_metadata.yaml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ format_version: robotis_camera_metadata_v1
2
+ source: robot_config
3
+ cameras:
4
+ cam_left_head:
5
+ rotation_deg: 0
6
+ rotation_applied_at: record
7
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
8
+ camera_info_topic: /zed/zed_node/left/camera_info
9
+ cam_left_wrist:
10
+ rotation_deg: 270
11
+ rotation_applied_at: record
12
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
13
+ camera_info_topic: /camera_left/camera_left/color/camera_info
14
+ cam_right_head:
15
+ rotation_deg: 0
16
+ rotation_applied_at: record
17
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
18
+ camera_info_topic: /zed/zed_node/right/camera_info
19
+ cam_right_wrist:
20
+ rotation_deg: 270
21
+ rotation_applied_at: record
22
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
23
+ camera_info_topic: /camera_right/camera_right/color/camera_info
11/videos/11_0/cam_left_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067839980202621,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 184,
9
+ "frames_received": 184,
10
+ "frames_remuxed": 184,
11
+ "frames_written": 184,
12
+ "last_recv_ns": 1783067852179639760,
13
+ "max_callback_queue_bytes": 165724,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 68032,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 3295251,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 165724,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 6708134,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_head.mp4",
25
+ "name": "cam_left_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 260021674,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
43
+ }
11/videos/11_0/cam_left_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067840012806007,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 184,
9
+ "frames_received": 184,
10
+ "frames_remuxed": 184,
11
+ "frames_written": 184,
12
+ "last_recv_ns": 1783067852196865170,
13
+ "max_callback_queue_bytes": 72985,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 20736,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1142502,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 72985,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 5675296,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_wrist.mp4",
25
+ "name": "cam_left_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 213714370,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_left_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
43
+ }
11/videos/11_0/cam_right_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067840000699666,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 184,
9
+ "frames_received": 184,
10
+ "frames_remuxed": 184,
11
+ "frames_written": 184,
12
+ "last_recv_ns": 1783067852186625400,
13
+ "max_callback_queue_bytes": 163155,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 1356136,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1218919,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 163155,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 6252708,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_head.mp4",
25
+ "name": "cam_right_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 204122987,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
43
+ }
11/videos/11_0/cam_right_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067839992543268,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 185,
9
+ "frames_received": 185,
10
+ "frames_remuxed": 185,
11
+ "frames_written": 185,
12
+ "last_recv_ns": 1783067852243272187,
13
+ "max_callback_queue_bytes": 64543,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 444291,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1518153,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 64543,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 5807841,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_wrist.mp4",
25
+ "name": "cam_right_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 198851788,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/11/segments/0/videos/cam_right_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
43
+ }
14/camera_info/cam_left_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_left_camera_optical_frame
3
+ stamp:
4
+ sec: 1783067920
5
+ nanosec: 105199484
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - 0.0
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
14/camera_info/cam_left_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_left_color_optical_frame
3
+ stamp:
4
+ sec: 1783067920
5
+ nanosec: 39665771
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05390038341283798
11
+ - 0.05999734625220299
12
+ - -0.0001955493789864704
13
+ - 0.00022923003416508436
14
+ - -0.020182626321911812
15
+ k:
16
+ - 392.8999938964844
17
+ - 0.0
18
+ - 322.5819091796875
19
+ - 0.0
20
+ - 392.46600341796875
21
+ - 241.36207580566406
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 392.8999938964844
37
+ - 0.0
38
+ - 322.5819091796875
39
+ - 0.0
40
+ - 0.0
41
+ - 392.46600341796875
42
+ - 241.36207580566406
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
14/camera_info/cam_right_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_right_camera_optical_frame
3
+ stamp:
4
+ sec: 1783067920
5
+ nanosec: 38679484
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - -46.180625915527344
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
14/camera_info/cam_right_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_right_color_optical_frame
3
+ stamp:
4
+ sec: 1783067920
5
+ nanosec: 89711426
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05225568264722824
11
+ - 0.058933865278959274
12
+ - 2.339007733098697e-05
13
+ - 0.00047302478924393654
14
+ - -0.01994648575782776
15
+ k:
16
+ - 391.7255859375
17
+ - 0.0
18
+ - 323.91400146484375
19
+ - 0.0
20
+ - 391.1866760253906
21
+ - 241.0968017578125
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 391.7255859375
37
+ - 0.0
38
+ - 323.91400146484375
39
+ - 0.0
40
+ - 0.0
41
+ - 391.1866760253906
42
+ - 241.0968017578125
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
14/camera_info/camera_metadata.yaml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ format_version: robotis_camera_metadata_v1
2
+ source: robot_config
3
+ cameras:
4
+ cam_left_head:
5
+ rotation_deg: 0
6
+ rotation_applied_at: record
7
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
8
+ camera_info_topic: /zed/zed_node/left/camera_info
9
+ cam_left_wrist:
10
+ rotation_deg: 270
11
+ rotation_applied_at: record
12
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
13
+ camera_info_topic: /camera_left/camera_left/color/camera_info
14
+ cam_right_head:
15
+ rotation_deg: 0
16
+ rotation_applied_at: record
17
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
18
+ camera_info_topic: /zed/zed_node/right/camera_info
19
+ cam_right_wrist:
20
+ rotation_deg: 270
21
+ rotation_applied_at: record
22
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
23
+ camera_info_topic: /camera_right/camera_right/color/camera_info
14/videos/14_0/cam_left_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067906586232055,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 204,
9
+ "frames_received": 204,
10
+ "frames_remuxed": 204,
11
+ "frames_written": 204,
12
+ "last_recv_ns": 1783067920114606143,
13
+ "max_callback_queue_bytes": 168016,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 46592,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1607273,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 168016,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 6692231,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_head.mp4",
25
+ "name": "cam_left_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 289826931,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
43
+ }
14/videos/14_0/cam_left_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067906604616032,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 204,
9
+ "frames_received": 204,
10
+ "frames_remuxed": 204,
11
+ "frames_written": 204,
12
+ "last_recv_ns": 1783067920124098389,
13
+ "max_callback_queue_bytes": 72034,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 486147,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 3884054,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 72034,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 5924545,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_wrist.mp4",
25
+ "name": "cam_left_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 154705360,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_left_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
43
+ }
14/videos/14_0/cam_right_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067906607212046,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 204,
9
+ "frames_received": 204,
10
+ "frames_remuxed": 204,
11
+ "frames_written": 204,
12
+ "last_recv_ns": 1783067920125768191,
13
+ "max_callback_queue_bytes": 168960,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 17376,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1468072,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 168960,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 4940316,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_head.mp4",
25
+ "name": "cam_right_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 213095038,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
43
+ }
14/videos/14_0/cam_right_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783067906592785596,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 204,
9
+ "frames_received": 204,
10
+ "frames_remuxed": 204,
11
+ "frames_written": 204,
12
+ "last_recv_ns": 1783067920106840595,
13
+ "max_callback_queue_bytes": 65560,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 486339,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1210855,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 65560,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 4549434,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_wrist.mp4",
25
+ "name": "cam_right_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 209042440,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/14/segments/0/videos/cam_right_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
43
+ }
16/camera_info/camera_metadata.yaml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ format_version: robotis_camera_metadata_v1
2
+ source: robot_config
3
+ cameras:
4
+ cam_left_head:
5
+ rotation_deg: 0
6
+ rotation_applied_at: record
7
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
8
+ camera_info_topic: /zed/zed_node/left/camera_info
9
+ cam_left_wrist:
10
+ rotation_deg: 270
11
+ rotation_applied_at: record
12
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
13
+ camera_info_topic: /camera_left/camera_left/color/camera_info
14
+ cam_right_head:
15
+ rotation_deg: 0
16
+ rotation_applied_at: record
17
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
18
+ camera_info_topic: /zed/zed_node/right/camera_info
19
+ cam_right_wrist:
20
+ rotation_deg: 270
21
+ rotation_applied_at: record
22
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
23
+ camera_info_topic: /camera_right/camera_right/color/camera_info
20/camera_info/cam_left_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_left_camera_optical_frame
3
+ stamp:
4
+ sec: 1783068047
5
+ nanosec: 644409484
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - 0.0
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
20/camera_info/cam_left_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_left_color_optical_frame
3
+ stamp:
4
+ sec: 1783068047
5
+ nanosec: 635850098
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05390038341283798
11
+ - 0.05999734625220299
12
+ - -0.0001955493789864704
13
+ - 0.00022923003416508436
14
+ - -0.020182626321911812
15
+ k:
16
+ - 392.8999938964844
17
+ - 0.0
18
+ - 322.5819091796875
19
+ - 0.0
20
+ - 392.46600341796875
21
+ - 241.36207580566406
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 392.8999938964844
37
+ - 0.0
38
+ - 322.5819091796875
39
+ - 0.0
40
+ - 0.0
41
+ - 392.46600341796875
42
+ - 241.36207580566406
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
20/camera_info/cam_right_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_right_camera_optical_frame
3
+ stamp:
4
+ sec: 1783068047
5
+ nanosec: 644409484
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - -46.180625915527344
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
20/camera_info/cam_right_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_right_color_optical_frame
3
+ stamp:
4
+ sec: 1783068047
5
+ nanosec: 618062012
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05225568264722824
11
+ - 0.058933865278959274
12
+ - 2.339007733098697e-05
13
+ - 0.00047302478924393654
14
+ - -0.01994648575782776
15
+ k:
16
+ - 391.7255859375
17
+ - 0.0
18
+ - 323.91400146484375
19
+ - 0.0
20
+ - 391.1866760253906
21
+ - 241.0968017578125
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 391.7255859375
37
+ - 0.0
38
+ - 323.91400146484375
39
+ - 0.0
40
+ - 0.0
41
+ - 391.1866760253906
42
+ - 241.0968017578125
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
20/camera_info/camera_metadata.yaml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ format_version: robotis_camera_metadata_v1
2
+ source: robot_config
3
+ cameras:
4
+ cam_left_head:
5
+ rotation_deg: 0
6
+ rotation_applied_at: record
7
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
8
+ camera_info_topic: /zed/zed_node/left/camera_info
9
+ cam_left_wrist:
10
+ rotation_deg: 270
11
+ rotation_applied_at: record
12
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
13
+ camera_info_topic: /camera_left/camera_left/color/camera_info
14
+ cam_right_head:
15
+ rotation_deg: 0
16
+ rotation_applied_at: record
17
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
18
+ camera_info_topic: /zed/zed_node/right/camera_info
19
+ cam_right_wrist:
20
+ rotation_deg: 270
21
+ rotation_applied_at: record
22
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
23
+ camera_info_topic: /camera_right/camera_right/color/camera_info
20/videos/20_0/cam_left_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068034853577495,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 194,
9
+ "frames_received": 194,
10
+ "frames_remuxed": 194,
11
+ "frames_written": 194,
12
+ "last_recv_ns": 1783068047717564469,
13
+ "max_callback_queue_bytes": 164510,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 68640,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1871531,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 164510,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 9718679,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_head.mp4",
25
+ "name": "cam_left_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 285954269,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
43
+ }
20/videos/20_0/cam_left_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068034944117083,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 194,
9
+ "frames_received": 194,
10
+ "frames_remuxed": 194,
11
+ "frames_written": 194,
12
+ "last_recv_ns": 1783068047723006388,
13
+ "max_callback_queue_bytes": 72965,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 17280,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 896869,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 72965,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 4324760,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_wrist.mp4",
25
+ "name": "cam_left_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 226905741,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_left_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
43
+ }
20/videos/20_0/cam_right_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068034866537537,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 194,
9
+ "frames_received": 194,
10
+ "frames_remuxed": 194,
11
+ "frames_written": 194,
12
+ "last_recv_ns": 1783068047726017829,
13
+ "max_callback_queue_bytes": 162602,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 24128,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1734410,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 162602,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 8822450,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_right_head.mp4",
25
+ "name": "cam_right_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_right_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 298580804,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_right_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
43
+ }
20/videos/20_0/cam_right_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068034879035816,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 194,
9
+ "frames_received": 194,
10
+ "frames_remuxed": 194,
11
+ "frames_written": 194,
12
+ "last_recv_ns": 1783068047699547118,
13
+ "max_callback_queue_bytes": 69051,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 55264,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 1270119,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 69051,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 5098301,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_right_wrist.mp4",
25
+ "name": "cam_right_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_right_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 251410648,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/20/segments/0/videos/cam_right_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
43
+ }
22/camera_info/cam_left_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_left_camera_optical_frame
3
+ stamp:
4
+ sec: 1783068178
5
+ nanosec: 117420908
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - 0.0
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
22/camera_info/cam_left_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_left_color_optical_frame
3
+ stamp:
4
+ sec: 1783068178
5
+ nanosec: 78577148
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05390038341283798
11
+ - 0.05999734625220299
12
+ - -0.0001955493789864704
13
+ - 0.00022923003416508436
14
+ - -0.020182626321911812
15
+ k:
16
+ - 392.8999938964844
17
+ - 0.0
18
+ - 322.5819091796875
19
+ - 0.0
20
+ - 392.46600341796875
21
+ - 241.36207580566406
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 392.8999938964844
37
+ - 0.0
38
+ - 322.5819091796875
39
+ - 0.0
40
+ - 0.0
41
+ - 392.46600341796875
42
+ - 241.36207580566406
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
22/camera_info/cam_right_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_right_camera_optical_frame
3
+ stamp:
4
+ sec: 1783068178
5
+ nanosec: 51708908
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - -46.180625915527344
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
22/camera_info/cam_right_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_right_color_optical_frame
3
+ stamp:
4
+ sec: 1783068178
5
+ nanosec: 65237549
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05225568264722824
11
+ - 0.058933865278959274
12
+ - 2.339007733098697e-05
13
+ - 0.00047302478924393654
14
+ - -0.01994648575782776
15
+ k:
16
+ - 391.7255859375
17
+ - 0.0
18
+ - 323.91400146484375
19
+ - 0.0
20
+ - 391.1866760253906
21
+ - 241.0968017578125
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 391.7255859375
37
+ - 0.0
38
+ - 323.91400146484375
39
+ - 0.0
40
+ - 0.0
41
+ - 391.1866760253906
42
+ - 241.0968017578125
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
22/camera_info/camera_metadata.yaml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ format_version: robotis_camera_metadata_v1
2
+ source: robot_config
3
+ cameras:
4
+ cam_left_head:
5
+ rotation_deg: 0
6
+ rotation_applied_at: record
7
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
8
+ camera_info_topic: /zed/zed_node/left/camera_info
9
+ cam_left_wrist:
10
+ rotation_deg: 270
11
+ rotation_applied_at: record
12
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
13
+ camera_info_topic: /camera_left/camera_left/color/camera_info
14
+ cam_right_head:
15
+ rotation_deg: 0
16
+ rotation_applied_at: record
17
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
18
+ camera_info_topic: /zed/zed_node/right/camera_info
19
+ cam_right_wrist:
20
+ rotation_deg: 270
21
+ rotation_applied_at: record
22
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
23
+ camera_info_topic: /camera_right/camera_right/color/camera_info
22/videos/22_0/cam_left_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068163791913350,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 216,
9
+ "frames_received": 216,
10
+ "frames_remuxed": 216,
11
+ "frames_written": 216,
12
+ "last_recv_ns": 1783068178124721335,
13
+ "max_callback_queue_bytes": 163858,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 20352,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 4232792,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 163858,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 5336831,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_left_head.mp4",
25
+ "name": "cam_left_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_left_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 319826206,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_left_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
43
+ }
22/videos/22_0/cam_left_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068163775559721,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 217,
9
+ "frames_received": 217,
10
+ "frames_remuxed": 217,
11
+ "frames_written": 217,
12
+ "last_recv_ns": 1783068178168042158,
13
+ "max_callback_queue_bytes": 72465,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 58592,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 843877,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 72465,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 5150045,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_left_wrist.mp4",
25
+ "name": "cam_left_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_left_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 213602657,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_left_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
43
+ }
22/videos/22_0/cam_right_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068163798000585,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 216,
9
+ "frames_received": 216,
10
+ "frames_remuxed": 216,
11
+ "frames_written": 216,
12
+ "last_recv_ns": 1783068178134113772,
13
+ "max_callback_queue_bytes": 162975,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 19072,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 3101362,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 162975,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 6059522,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_right_head.mp4",
25
+ "name": "cam_right_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_right_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 248357094,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_right_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
43
+ }
22/videos/22_0/cam_right_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068163761961916,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 217,
9
+ "frames_received": 217,
10
+ "frames_remuxed": 217,
11
+ "frames_written": 217,
12
+ "last_recv_ns": 1783068178145894864,
13
+ "max_callback_queue_bytes": 71907,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 23488,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 819812,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 71907,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 8741426,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_right_wrist.mp4",
25
+ "name": "cam_right_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_right_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 195781980,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/22/segments/0/videos/cam_right_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
43
+ }
23/camera_info/cam_left_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_left_camera_optical_frame
3
+ stamp:
4
+ sec: 1783068196
5
+ nanosec: 451774908
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - 0.0
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
23/camera_info/cam_left_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_left_color_optical_frame
3
+ stamp:
4
+ sec: 1783068196
5
+ nanosec: 392381104
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05390038341283798
11
+ - 0.05999734625220299
12
+ - -0.0001955493789864704
13
+ - 0.00022923003416508436
14
+ - -0.020182626321911812
15
+ k:
16
+ - 392.8999938964844
17
+ - 0.0
18
+ - 322.5819091796875
19
+ - 0.0
20
+ - 392.46600341796875
21
+ - 241.36207580566406
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 392.8999938964844
37
+ - 0.0
38
+ - 322.5819091796875
39
+ - 0.0
40
+ - 0.0
41
+ - 392.46600341796875
42
+ - 241.36207580566406
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
23/camera_info/cam_right_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_right_color_optical_frame
3
+ stamp:
4
+ sec: 1783068196
5
+ nanosec: 445098633
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05225568264722824
11
+ - 0.058933865278959274
12
+ - 2.339007733098697e-05
13
+ - 0.00047302478924393654
14
+ - -0.01994648575782776
15
+ k:
16
+ - 391.7255859375
17
+ - 0.0
18
+ - 323.91400146484375
19
+ - 0.0
20
+ - 391.1866760253906
21
+ - 241.0968017578125
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 391.7255859375
37
+ - 0.0
38
+ - 323.91400146484375
39
+ - 0.0
40
+ - 0.0
41
+ - 391.1866760253906
42
+ - 241.0968017578125
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
23/videos/23_0/cam_left_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068182405003872,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 213,
9
+ "frames_received": 213,
10
+ "frames_remuxed": 213,
11
+ "frames_written": 213,
12
+ "last_recv_ns": 1783068196525901592,
13
+ "max_callback_queue_bytes": 162862,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 37856,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 3452052,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 162862,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 7885549,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_left_head.mp4",
25
+ "name": "cam_left_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_left_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 321850697,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_left_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
43
+ }
23/videos/23_0/cam_left_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068182432644989,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 212,
9
+ "frames_received": 212,
10
+ "frames_remuxed": 212,
11
+ "frames_written": 212,
12
+ "last_recv_ns": 1783068196476329662,
13
+ "max_callback_queue_bytes": 74031,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 55681,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 2255309,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 74031,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 6740006,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_left_wrist.mp4",
25
+ "name": "cam_left_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_left_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 200628728,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_left_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_left/camera_left/color/image_rect_raw/compressed"
43
+ }
23/videos/23_0/cam_right_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068182407916208,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 213,
9
+ "frames_received": 213,
10
+ "frames_remuxed": 213,
11
+ "frames_written": 213,
12
+ "last_recv_ns": 1783068196543449532,
13
+ "max_callback_queue_bytes": 162359,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 1751594,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 853380,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 162359,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 9020372,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_right_head.mp4",
25
+ "name": "cam_right_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_right_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 328912530,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_right_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/right/image_rect_color/compressed"
43
+ }
23/videos/23_0/cam_right_wrist_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068182428186276,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 213,
9
+ "frames_received": 213,
10
+ "frames_remuxed": 213,
11
+ "frames_written": 213,
12
+ "last_recv_ns": 1783068196533764101,
13
+ "max_callback_queue_bytes": 71956,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 70560,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 4550170,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 71956,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 7873805,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_right_wrist.mp4",
25
+ "name": "cam_right_wrist",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_right_wrist.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 189560247,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/23/segments/0/videos/cam_right_wrist_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/camera_right/camera_right/color/image_rect_raw/compressed"
43
+ }
25/camera_info/cam_left_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_left_camera_optical_frame
3
+ stamp:
4
+ sec: 1783068231
5
+ nanosec: 720071908
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - 0.0
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
25/camera_info/cam_left_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_left_color_optical_frame
3
+ stamp:
4
+ sec: 1783068231
5
+ nanosec: 753731934
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05390038341283798
11
+ - 0.05999734625220299
12
+ - -0.0001955493789864704
13
+ - 0.00022923003416508436
14
+ - -0.020182626321911812
15
+ k:
16
+ - 392.8999938964844
17
+ - 0.0
18
+ - 322.5819091796875
19
+ - 0.0
20
+ - 392.46600341796875
21
+ - 241.36207580566406
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 392.8999938964844
37
+ - 0.0
38
+ - 322.5819091796875
39
+ - 0.0
40
+ - 0.0
41
+ - 392.46600341796875
42
+ - 241.36207580566406
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
25/camera_info/cam_right_head.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: zed_right_camera_optical_frame
3
+ stamp:
4
+ sec: 1783068231
5
+ nanosec: 720071908
6
+ height: 720
7
+ width: 1280
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - 0.0
11
+ - 0.0
12
+ - 0.0
13
+ - 0.0
14
+ - 0.0
15
+ k:
16
+ - 735.4571533203125
17
+ - 0.0
18
+ - 625.3748779296875
19
+ - 0.0
20
+ - 735.4571533203125
21
+ - 361.1747131347656
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 735.4571533203125
37
+ - 0.0
38
+ - 625.3748779296875
39
+ - -46.180625915527344
40
+ - 0.0
41
+ - 735.4571533203125
42
+ - 361.1747131347656
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
25/camera_info/cam_right_wrist.yaml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ header:
2
+ frame_id: camera_right_color_optical_frame
3
+ stamp:
4
+ sec: 1783068231
5
+ nanosec: 740569092
6
+ height: 480
7
+ width: 640
8
+ distortion_model: plumb_bob
9
+ d:
10
+ - -0.05225568264722824
11
+ - 0.058933865278959274
12
+ - 2.339007733098697e-05
13
+ - 0.00047302478924393654
14
+ - -0.01994648575782776
15
+ k:
16
+ - 391.7255859375
17
+ - 0.0
18
+ - 323.91400146484375
19
+ - 0.0
20
+ - 391.1866760253906
21
+ - 241.0968017578125
22
+ - 0.0
23
+ - 0.0
24
+ - 1.0
25
+ r:
26
+ - 1.0
27
+ - 0.0
28
+ - 0.0
29
+ - 0.0
30
+ - 1.0
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ p:
36
+ - 391.7255859375
37
+ - 0.0
38
+ - 323.91400146484375
39
+ - 0.0
40
+ - 0.0
41
+ - 391.1866760253906
42
+ - 241.0968017578125
43
+ - 0.0
44
+ - 0.0
45
+ - 0.0
46
+ - 1.0
47
+ - 0.0
48
+ binning_x: 0
49
+ binning_y: 0
50
+ roi:
51
+ x_offset: 0
52
+ y_offset: 0
53
+ height: 0
54
+ width: 0
55
+ do_rectify: false
25/camera_info/camera_metadata.yaml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ format_version: robotis_camera_metadata_v1
2
+ source: robot_config
3
+ cameras:
4
+ cam_left_head:
5
+ rotation_deg: 0
6
+ rotation_applied_at: record
7
+ image_topic: /zed/zed_node/left/image_rect_color/compressed
8
+ camera_info_topic: /zed/zed_node/left/camera_info
9
+ cam_left_wrist:
10
+ rotation_deg: 270
11
+ rotation_applied_at: record
12
+ image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
13
+ camera_info_topic: /camera_left/camera_left/color/camera_info
14
+ cam_right_head:
15
+ rotation_deg: 0
16
+ rotation_applied_at: record
17
+ image_topic: /zed/zed_node/right/image_rect_color/compressed
18
+ camera_info_topic: /zed/zed_node/right/camera_info
19
+ cam_right_wrist:
20
+ rotation_deg: 270
21
+ rotation_applied_at: record
22
+ image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
23
+ camera_info_topic: /camera_right/camera_right/color/camera_info
25/videos/25_0/cam_left_head_recorder_stats.json ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "callback_queue_bytes_current": 0,
3
+ "diagnostics_mode": "summary",
4
+ "diagnostics_path": null,
5
+ "first_recv_ns": 1783068216936256692,
6
+ "frames_dropped_invalid": 0,
7
+ "frames_dropped_queue": 0,
8
+ "frames_metadata_written": 224,
9
+ "frames_received": 224,
10
+ "frames_remuxed": 224,
11
+ "frames_written": 224,
12
+ "last_recv_ns": 1783068231792669612,
13
+ "max_callback_queue_bytes": 163288,
14
+ "max_callback_queue_items": 1,
15
+ "max_enqueue_wait_ns": 31904,
16
+ "max_header_ahead_ns": 0,
17
+ "max_header_behind_ns": 0,
18
+ "max_metadata_flush_ns": 3338995,
19
+ "max_metadata_queue_items": 1,
20
+ "max_raw_queue_bytes": 163288,
21
+ "max_raw_queue_items": 1,
22
+ "max_raw_write_ns": 7810348,
23
+ "metadata_error": null,
24
+ "mp4_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/25/segments/0/videos/cam_left_head.mp4",
25
+ "name": "cam_left_head",
26
+ "pressure_warning_count": 0,
27
+ "raw_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/25/segments/0/videos/cam_left_head.mjpeg.tmp",
28
+ "raw_queue_bytes_current": 0,
29
+ "raw_write_error": null,
30
+ "remux_duration_ns": 324472632,
31
+ "remux_error": null,
32
+ "remux_status": "done",
33
+ "sidecar_path": "/workspace/rosbag2/Task_999999_ACT_test_JC_MCAP/25/segments/0/videos/cam_left_head_timestamps.parquet",
34
+ "soft_callback_queue_bytes": 134217728,
35
+ "soft_callback_queue_frames": 256,
36
+ "soft_metadata_queue_rows": 16384,
37
+ "soft_raw_queue_bytes": 268435456,
38
+ "soft_raw_queue_frames": 256,
39
+ "timestamp_future_warning_count": 0,
40
+ "timestamp_past_warning_count": 0,
41
+ "timestamp_warning_count": 0,
42
+ "topic": "/zed/zed_node/left/image_rect_color/compressed"
43
+ }