Upload folder using huggingface_hub (part 4)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- opening and closing/session_20261024_164452_00044/right_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- opening and closing/session_20261024_164452_00044/right_hand/Metadata/metadata.json +343 -0
- opening and closing/session_20261024_164452_00044/right_hand/Metadata/pc_joint_metadata.json +0 -0
- opening and closing/session_20261024_164452_00044/right_hand/Metadata/pc_metadata.json +101 -0
- opening and closing/session_20261024_164452_00044/right_hand/RGB_Images/timestamps.csv +399 -0
- opening and closing/session_20261024_164452_00044/right_hand/RGB_Images/video.mp4 +3 -0
- opening and closing/session_20261024_164508_00045/Logs/vive_broker_session.log +2 -0
- opening and closing/session_20261024_164508_00045/Metadata/ui_backend_metadata.json +0 -0
- opening and closing/session_20261024_164508_00045/control/stop_left_hand.flag +1 -0
- opening and closing/session_20261024_164508_00045/left_hand/Clamp_Data/clamp_data_tum.txt +597 -0
- opening and closing/session_20261024_164508_00045/left_hand/Clamp_Data/clamp_timebase.csv +598 -0
- opening and closing/session_20261024_164508_00045/left_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- opening and closing/session_20261024_164508_00045/left_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- opening and closing/session_20261024_164508_00045/left_hand/Metadata/metadata.json +343 -0
- opening and closing/session_20261024_164508_00045/left_hand/Metadata/pc_joint_metadata.json +0 -0
- opening and closing/session_20261024_164508_00045/left_hand/Metadata/pc_metadata.json +101 -0
- opening and closing/session_20261024_164508_00045/left_hand/RGB_Images/timestamps.csv +399 -0
- opening and closing/session_20261024_164508_00045/left_hand/RGB_Images/video.mp4 +3 -0
- opening and closing/session_20261024_164508_00045/right_hand/Clamp_Data/clamp_data_tum.txt +597 -0
- opening and closing/session_20261024_164508_00045/right_hand/Clamp_Data/clamp_timebase.csv +598 -0
- opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- opening and closing/session_20261024_164508_00045/right_hand/Metadata/metadata.json +343 -0
- opening and closing/session_20261024_164508_00045/right_hand/Metadata/pc_joint_metadata.json +0 -0
- opening and closing/session_20261024_164508_00045/right_hand/Metadata/pc_metadata.json +101 -0
- opening and closing/session_20261024_164508_00045/right_hand/RGB_Images/timestamps.csv +399 -0
- opening and closing/session_20261024_164508_00045/right_hand/RGB_Images/video.mp4 +3 -0
- opening and closing/session_20261024_164540_00047/Logs/vive_broker_session.log +2 -0
- opening and closing/session_20261024_164540_00047/Metadata/ui_backend_metadata.json +0 -0
- opening and closing/session_20261024_164540_00047/control/stop_left_hand.flag +1 -0
- opening and closing/session_20261024_164540_00047/left_hand/Clamp_Data/clamp_data_tum.txt +627 -0
- opening and closing/session_20261024_164540_00047/left_hand/Clamp_Data/clamp_timebase.csv +628 -0
- opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- opening and closing/session_20261024_164540_00047/left_hand/Metadata/metadata.json +343 -0
- opening and closing/session_20261024_164540_00047/left_hand/Metadata/pc_joint_metadata.json +0 -0
- opening and closing/session_20261024_164540_00047/left_hand/Metadata/pc_metadata.json +101 -0
- opening and closing/session_20261024_164540_00047/left_hand/RGB_Images/timestamps.csv +419 -0
- opening and closing/session_20261024_164540_00047/left_hand/RGB_Images/video.mp4 +3 -0
- opening and closing/session_20261024_164540_00047/right_hand/Clamp_Data/clamp_data_tum.txt +628 -0
- opening and closing/session_20261024_164540_00047/right_hand/Clamp_Data/clamp_timebase.csv +629 -0
- opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/merged_trajectory.txt +0 -0
- opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt +0 -0
- opening and closing/session_20261024_164540_00047/right_hand/Metadata/metadata.json +343 -0
- opening and closing/session_20261024_164540_00047/right_hand/Metadata/pc_joint_metadata.json +0 -0
- opening and closing/session_20261024_164540_00047/right_hand/Metadata/pc_metadata.json +101 -0
- opening and closing/session_20261024_164540_00047/right_hand/RGB_Images/timestamps.csv +419 -0
- opening and closing/session_20261024_164540_00047/right_hand/RGB_Images/video.mp4 +3 -0
- opening and closing/session_20261024_164625_00049/Logs/vive_broker_session.log +2 -0
- opening and closing/session_20261024_164625_00049/Metadata/ui_backend_metadata.json +0 -0
opening and closing/session_20261024_164452_00044/right_hand/Merged_Trajectory/raw_vive_pose.txt
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opening and closing/session_20261024_164452_00044/right_hand/Metadata/metadata.json
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| 1 |
+
{
|
| 2 |
+
"project": "Tele-UMI",
|
| 3 |
+
"version": "v2",
|
| 4 |
+
"role": "raspberry_pi_capture",
|
| 5 |
+
"created_time_ns": 1792831505988130756,
|
| 6 |
+
"platform": {
|
| 7 |
+
"system": "Linux",
|
| 8 |
+
"release": "6.12.75+rpt-rpi-2712",
|
| 9 |
+
"machine": "aarch64"
|
| 10 |
+
},
|
| 11 |
+
"paths": {
|
| 12 |
+
"run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand",
|
| 13 |
+
"rgb_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/RGB_Images",
|
| 14 |
+
"clamp_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/Clamp_Data",
|
| 15 |
+
"metadata_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/Metadata",
|
| 16 |
+
"video_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/RGB_Images/video.mp4",
|
| 17 |
+
"camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/RGB_Images/timestamps.csv",
|
| 18 |
+
"clamp_data_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/Clamp_Data/clamp_data_tum.txt",
|
| 19 |
+
"metadata_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/Metadata/metadata.json",
|
| 20 |
+
"clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164452_00044/right_hand/Clamp_Data/clamp_timebase.csv"
|
| 21 |
+
},
|
| 22 |
+
"config": {
|
| 23 |
+
"project_config_snapshot": {
|
| 24 |
+
"schema_version": 1,
|
| 25 |
+
"network": {
|
| 26 |
+
"pi_host": "192.168.157.6",
|
| 27 |
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"left_pi_host": "192.168.157.6",
|
| 28 |
+
"right_pi_host": "192.168.157.66",
|
| 29 |
+
"pi_port": 8765,
|
| 30 |
+
"left_pi_port": 8765,
|
| 31 |
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"right_pi_port": 8765,
|
| 32 |
+
"pi_ssh_user": "zhang",
|
| 33 |
+
"pi_project_dir": "/home/zhang/TeleUMI",
|
| 34 |
+
"pi_data_root": "/home/zhang/teleumi-v2/datasets"
|
| 35 |
+
},
|
| 36 |
+
"device_binding": {
|
| 37 |
+
"device_id": "right_pi_01",
|
| 38 |
+
"vive_tracker_serial": "LHR-F47559F6"
|
| 39 |
+
},
|
| 40 |
+
"pi_standby": {
|
| 41 |
+
"enabled": true,
|
| 42 |
+
"sensor_hz": 10.0,
|
| 43 |
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"i2c_bus": 1,
|
| 44 |
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"i2c_address": "0x36",
|
| 45 |
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"reference_seconds": 0.8,
|
| 46 |
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"desktop_usb_exit": true,
|
| 47 |
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"desktop_usb_poll_seconds": 0.5
|
| 48 |
+
},
|
| 49 |
+
"capture": {
|
| 50 |
+
"task_name": "task_1",
|
| 51 |
+
"safety_max_seconds": 180.0,
|
| 52 |
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"vive_hz": 200.0,
|
| 53 |
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"vive_init_seconds": 1.0,
|
| 54 |
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"init_seconds": 0.8,
|
| 55 |
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"sensor_hz": 60.0,
|
| 56 |
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"as5600_queue_size": 600,
|
| 57 |
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"loop_hz": 200.0,
|
| 58 |
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"camera_type": "csi",
|
| 59 |
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"camera_device": "0",
|
| 60 |
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"camera_width": 1280,
|
| 61 |
+
"camera_height": 960,
|
| 62 |
+
"camera_fps": 40.0,
|
| 63 |
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"camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
|
| 64 |
+
"camera_fourcc": "mp4v",
|
| 65 |
+
"camera_first_frame_timeout_s": 5.0,
|
| 66 |
+
"preview_fps": 10.0,
|
| 67 |
+
"preview_rotation": "none",
|
| 68 |
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"open_angle_deg": 45.791,
|
| 69 |
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"gripper_open_mm": 85.0,
|
| 70 |
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"scheduled_start_delay_s": 10.0,
|
| 71 |
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"coordinated_arm_delay_s": 2.5,
|
| 72 |
+
"coordination_timeout_s": 90.0,
|
| 73 |
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"scheduled_stop_delay_s": 1.0,
|
| 74 |
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"capture_start_guard_s": 0.5,
|
| 75 |
+
"capture_stop_guard_s": 0.2,
|
| 76 |
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"pause_chrony_during_capture": true,
|
| 77 |
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"vive_bias": {
|
| 78 |
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"window_s": 0.8,
|
| 79 |
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"validation_guard_s": 0.2,
|
| 80 |
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"min_span_s": 0.5,
|
| 81 |
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"min_sample_ratio": 0.8,
|
| 82 |
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"max_position_rms_m": 0.003,
|
| 83 |
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"max_position_deviation_m": 0.008,
|
| 84 |
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"max_orientation_rms_deg": 1.0,
|
| 85 |
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"max_orientation_deviation_deg": 3.0
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"timeouts": {
|
| 89 |
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"pi_http_s": 5.0,
|
| 90 |
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"pi_configure_total_s": 20.0,
|
| 91 |
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"pi_preflight_s": 12.0,
|
| 92 |
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"vive_preflight_s": 5.0,
|
| 93 |
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"vive_pose_wait_s": 2.0,
|
| 94 |
+
"pi_finish_s": 30.0,
|
| 95 |
+
"vive_finish_s": 10.0,
|
| 96 |
+
"quality_check_s": 120.0,
|
| 97 |
+
"pi_data_copy_s": 300.0,
|
| 98 |
+
"robot_score_s": 300.0
|
| 99 |
+
},
|
| 100 |
+
"quality": {
|
| 101 |
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"max_rms_offset_s": 0.005,
|
| 102 |
+
"max_last_offset_s": 0.005,
|
| 103 |
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"max_clock_offset_s": 0.005,
|
| 104 |
+
"max_clock_drift_s": 0.001,
|
| 105 |
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"min_vive_hz": 150.0,
|
| 106 |
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"max_vive_hz": 220.0,
|
| 107 |
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"max_vive_gap_s": 0.025,
|
| 108 |
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"max_vive_drop_rate": 0.05,
|
| 109 |
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"max_vive_position_jump_m": 0.1,
|
| 110 |
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"max_vive_rotation_jump_deg": 30.0,
|
| 111 |
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"max_vive_quaternion_norm_error": 0.02,
|
| 112 |
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"max_zero_position_m": 0.005,
|
| 113 |
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"max_zero_rotation_deg": 5.0,
|
| 114 |
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"min_camera_fps": 38.0,
|
| 115 |
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"max_camera_fps": 42.0,
|
| 116 |
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"min_clamp_hz": 55.0,
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| 143 |
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| 151 |
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| 198 |
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| 266 |
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},
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1.3,
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1.55
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]
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}
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},
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|
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|
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|
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},
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|
| 334 |
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},
|
| 335 |
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"notes": [
|
| 336 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 337 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 338 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 339 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 340 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 341 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 342 |
+
]
|
| 343 |
+
}
|
opening and closing/session_20261024_164452_00044/right_hand/Metadata/pc_joint_metadata.json
ADDED
|
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|
opening and closing/session_20261024_164452_00044/right_hand/Metadata/pc_metadata.json
ADDED
|
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| 1 |
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{
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| 2 |
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"project": "Tele-UMI",
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| 3 |
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| 4 |
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| 13 |
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"merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164452_00044/right_hand/Merged_Trajectory",
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| 20 |
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},
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],
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opening and closing/session_20261024_164452_00044/right_hand/RGB_Images/timestamps.csv
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opening and closing/session_20261024_164508_00045/Metadata/ui_backend_metadata.json
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opening and closing/session_20261024_164508_00045/left_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,598 @@
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|
| 1 |
+
sample_id,timestamp_ns,monotonic_ns,value
|
| 2 |
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0,1792831512506090327,1617799146157,100.0000
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| 3 |
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1,1792831512522761923,1617815817939,100.0000
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90,1792831514006097761,1619299153833,100.0000
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96,1792831514106091782,1619399147464,100.0000
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97,1792831514122761767,1619415817745,100.0000
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98,1792831514139854827,1619432912917,100.0000
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100,1792831514172758740,1619465814756,100.0000
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101,1792831514189425299,1619482480981,100.0000
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102,1792831514206088265,1619499144059,100.0000
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103,1792831514222759194,1619515815136,100.0000
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104,1792831514239427920,1619532484862,100.0000
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105,1792831514256090201,1619549145847,100.0000
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106,1792831514272763890,1619565820572,100.0000
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107,1792831514289427949,1619582484057,100.0000
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108,1792831514306088674,1619599144227,100.0000
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109,1792831514323071790,1619616128620,100.0000
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111,1792831514356100388,1619649156589,100.0000
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| 114 |
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112,1792831514372760206,1619665816537,100.0000
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opening and closing/session_20261024_164508_00045/left_hand/Merged_Trajectory/merged_trajectory.txt
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
opening and closing/session_20261024_164508_00045/left_hand/Merged_Trajectory/raw_vive_pose.txt
ADDED
|
The diff for this file is too large to render.
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|
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|
opening and closing/session_20261024_164508_00045/left_hand/Metadata/metadata.json
ADDED
|
@@ -0,0 +1,343 @@
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|
| 1 |
+
{
|
| 2 |
+
"project": "Tele-UMI",
|
| 3 |
+
"version": "v2",
|
| 4 |
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"role": "raspberry_pi_capture",
|
| 5 |
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"created_time_ns": 1792831522452020359,
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| 6 |
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"platform": {
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| 7 |
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"system": "Linux",
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| 8 |
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"release": "6.18.34+rpt-rpi-2712",
|
| 9 |
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"machine": "aarch64"
|
| 10 |
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},
|
| 11 |
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"paths": {
|
| 12 |
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"run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand",
|
| 13 |
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"rgb_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/RGB_Images",
|
| 14 |
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"clamp_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/Clamp_Data",
|
| 15 |
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"metadata_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/Metadata",
|
| 16 |
+
"video_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/RGB_Images/video.mp4",
|
| 17 |
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"camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/RGB_Images/timestamps.csv",
|
| 18 |
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"clamp_data_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/Clamp_Data/clamp_data_tum.txt",
|
| 19 |
+
"metadata_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/Metadata/metadata.json",
|
| 20 |
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"clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164508_00045/left_hand/Clamp_Data/clamp_timebase.csv"
|
| 21 |
+
},
|
| 22 |
+
"config": {
|
| 23 |
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"project_config_snapshot": {
|
| 24 |
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"schema_version": 1,
|
| 25 |
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"network": {
|
| 26 |
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"pi_host": "192.168.157.33",
|
| 27 |
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"left_pi_host": "192.168.157.33",
|
| 28 |
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"right_pi_host": "",
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| 29 |
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"pi_port": 8765,
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| 30 |
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"left_pi_port": 8765,
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| 31 |
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"right_pi_port": 8765,
|
| 32 |
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"pi_ssh_user": "zhang",
|
| 33 |
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"pi_project_dir": "/home/zhang/TeleUMI",
|
| 34 |
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"pi_data_root": "/home/zhang/TeleUMI/datasets"
|
| 35 |
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},
|
| 36 |
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"device_binding": {
|
| 37 |
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"device_id": "left_pi_01",
|
| 38 |
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"vive_tracker_serial": "LHR-26B06EF4"
|
| 39 |
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},
|
| 40 |
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|
| 41 |
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"enabled": true,
|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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},
|
| 49 |
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"capture": {
|
| 50 |
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"task_name": "task_1",
|
| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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"camera_device": "0",
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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"camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
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| 64 |
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| 65 |
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|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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|
| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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|
| 86 |
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}
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| 87 |
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},
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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},
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| 100 |
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"quality": {
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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|
| 108 |
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| 109 |
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|
| 110 |
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| 111 |
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| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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},
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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},
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| 149 |
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| 150 |
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"path": "/home/zhang/TeleUMI/config/teleumi_config.json"
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| 151 |
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}
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| 152 |
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| 153 |
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| 154 |
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| 166 |
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|
| 186 |
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| 187 |
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| 188 |
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| 189 |
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|
| 190 |
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},
|
| 191 |
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|
| 192 |
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|
| 193 |
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"capture_stop_time_ns": 1792831522443009805
|
| 194 |
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},
|
| 195 |
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"sensor": "as5600",
|
| 196 |
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"hand_mode": "dual",
|
| 197 |
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"hand_name": "left_hand",
|
| 198 |
+
"camera": true,
|
| 199 |
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"camera_type": "csi",
|
| 200 |
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"preview": true,
|
| 201 |
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"init_seconds": 0.8,
|
| 202 |
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"loop_hz": 200.0,
|
| 203 |
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"dry_run": false,
|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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| 209 |
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| 210 |
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| 211 |
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"allow_as5600_status_warning": true,
|
| 212 |
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"mapping": "初始化最大开度角度=100，闭合角度=0",
|
| 213 |
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"reference_pose": "max_open",
|
| 214 |
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"camera_device": "0",
|
| 215 |
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"camera_width": 1280,
|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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"camera_fourcc": "mp4v",
|
| 220 |
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"camera_capture_pixel_format": "RGB888",
|
| 221 |
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"camera_frame_color_order": "BGR",
|
| 222 |
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"camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter",
|
| 223 |
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"preview_device": "/dev/fb0",
|
| 224 |
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"preview_fps": 10.0,
|
| 225 |
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|
| 226 |
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| 227 |
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| 228 |
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| 232 |
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"stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164508_00045.stop",
|
| 233 |
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"diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_164508_00045.diagnostics.json",
|
| 234 |
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"deferred_arm": true,
|
| 235 |
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"control_session_id": "session_20261024_164508_00045",
|
| 236 |
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"control_generation": 49,
|
| 237 |
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"data_plane_mode": "persistent",
|
| 238 |
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"tactile": {
|
| 239 |
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"enabled": false,
|
| 240 |
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"sensors": {},
|
| 241 |
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"device_id": 1,
|
| 242 |
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"baudrate": 921600,
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| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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"calibration_delay_s": 2.0,
|
| 248 |
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"init_seconds": 2.0,
|
| 249 |
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"read_resultant": true,
|
| 250 |
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"read_distributed": true,
|
| 251 |
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"write_header": false,
|
| 252 |
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"config_path": "./config/tactile.json",
|
| 253 |
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"model": "PX6AX-GEN3-CP-M3025-Core",
|
| 254 |
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"force_scale_n_per_lsb": 0.1,
|
| 255 |
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"timestamp": "主机收到并解析串口响应后调用 time.time_ns()",
|
| 256 |
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"hardware_synchronized": false,
|
| 257 |
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"integration_mode": "pi_session_optional_sidecar",
|
| 258 |
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"gate_time_source": "shared_capture_start_stop_time_ns",
|
| 259 |
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"capture_start_time_ns": 1792831512497745277,
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| 261 |
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},
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| 263 |
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"monotonic_timestamp_enabled": true,
|
| 264 |
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"corrected_time_enabled": false,
|
| 265 |
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"monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控"
|
| 266 |
+
},
|
| 267 |
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"capture_clock": {
|
| 268 |
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"mode": "wall_clock",
|
| 269 |
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"policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。"
|
| 270 |
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},
|
| 271 |
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"reference_angle_deg": 101.24999999999997,
|
| 272 |
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"reference_source": "max_open_init",
|
| 273 |
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"zero_angle_deg": 101.24999999999997,
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| 274 |
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"zero_source": "max_open_init",
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| 275 |
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| 276 |
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"init_bad_status_samples": 0,
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| 277 |
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"capture_start_policy": "camera_first_frame",
|
| 278 |
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"camera_first_frame_wait_s": 5.167e-06,
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"camera_first_frame_ready": true,
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"effective_record_start_time_ns": 1792831512501695335,
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|
| 297 |
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|
| 298 |
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"camera_rotation": "180",
|
| 299 |
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"camera_controls_path": "runtime/camera_tuning/active_camera_controls.json",
|
| 300 |
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"camera_model": "ov5647",
|
| 301 |
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"camera_profile": null,
|
| 302 |
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| 303 |
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"AeEnable": false,
|
| 304 |
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"AwbEnable": false,
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| 305 |
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| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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"ColourGains": [
|
| 312 |
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1.3,
|
| 313 |
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1.55
|
| 314 |
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]
|
| 315 |
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}
|
| 316 |
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},
|
| 317 |
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"camera_encoder": "opencv_video_writer",
|
| 318 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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|
| 330 |
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|
| 331 |
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|
| 332 |
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},
|
| 333 |
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"main_loop_iterations": 2232
|
| 334 |
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},
|
| 335 |
+
"notes": [
|
| 336 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 337 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 338 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 339 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 340 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 341 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 342 |
+
]
|
| 343 |
+
}
|
opening and closing/session_20261024_164508_00045/left_hand/Metadata/pc_joint_metadata.json
ADDED
|
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|
opening and closing/session_20261024_164508_00045/left_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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| 1 |
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{
|
| 2 |
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"project": "Tele-UMI",
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| 3 |
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|
| 4 |
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|
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| 11 |
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| 12 |
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|
| 13 |
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| 14 |
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| 15 |
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| 20 |
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},
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],
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| 29 |
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| 30 |
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| 31 |
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"LHR-F47559F6"
|
| 32 |
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],
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|
| 42 |
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|
| 43 |
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"output_format": "timestamp x y z qx qy qz qw",
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| 44 |
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"raw_output_format": "timestamp x y z qx qy qz qw",
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| 45 |
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"raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/left_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 46 |
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"coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
|
| 47 |
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"openvr_query_mode": "single_process_single_query_dual_tracker",
|
| 48 |
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"tracker_index_used": 1,
|
| 49 |
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"tracker_serial_used": "LHR-26B06EF4",
|
| 50 |
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| 51 |
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"y0": -0.7463285326957703,
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},
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| 95 |
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opening and closing/session_20261024_164508_00045/left_hand/RGB_Images/timestamps.csv
ADDED
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@@ -0,0 +1,399 @@
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opening and closing/session_20261024_164508_00045/left_hand/RGB_Images/video.mp4
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opening and closing/session_20261024_164508_00045/right_hand/Clamp_Data/clamp_data_tum.txt
ADDED
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@@ -0,0 +1,597 @@
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| 1 |
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opening and closing/session_20261024_164508_00045/right_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,598 @@
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opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/merged_trajectory.txt
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The diff for this file is too large to render.
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opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt
ADDED
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The diff for this file is too large to render.
See raw diff
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opening and closing/session_20261024_164508_00045/right_hand/Metadata/metadata.json
ADDED
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@@ -0,0 +1,343 @@
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| 1 |
+
{
|
| 2 |
+
"project": "Tele-UMI",
|
| 3 |
+
"version": "v2",
|
| 4 |
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+
]
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"camera_encoder": "opencv_video_writer",
|
| 318 |
+
"clamp_sample_count": 597,
|
| 319 |
+
"clamp_first_sample_time_ns": 1792831512507638198,
|
| 320 |
+
"clamp_last_sample_time_ns": 1792831522440976536,
|
| 321 |
+
"clamp_actual_hz": 59.99996977048502,
|
| 322 |
+
"clamp_value_min": 46.22119086959111,
|
| 323 |
+
"clamp_value_max": 100.0,
|
| 324 |
+
"as5600_diagnostics": {
|
| 325 |
+
"queue_size": 600,
|
| 326 |
+
"queue_depth": 0,
|
| 327 |
+
"max_queue_depth": 206,
|
| 328 |
+
"read_count": 988,
|
| 329 |
+
"read_error_count": 0,
|
| 330 |
+
"queue_overrun_count": 0,
|
| 331 |
+
"last_read_error": null
|
| 332 |
+
},
|
| 333 |
+
"main_loop_iterations": 2266
|
| 334 |
+
},
|
| 335 |
+
"notes": [
|
| 336 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 337 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 338 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 339 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 340 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 341 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 342 |
+
]
|
| 343 |
+
}
|
opening and closing/session_20261024_164508_00045/right_hand/Metadata/pc_joint_metadata.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
opening and closing/session_20261024_164508_00045/right_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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|
| 1 |
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{
|
| 2 |
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"project": "Tele-UMI",
|
| 3 |
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"version": "v2",
|
| 4 |
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"role": "windows_vive_dual_capture",
|
| 5 |
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"created_time_ns": 1792831509017802525,
|
| 6 |
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"platform": {
|
| 7 |
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"system": "Linux",
|
| 8 |
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"release": "5.15.0-139-generic",
|
| 9 |
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"machine": "x86_64"
|
| 10 |
+
},
|
| 11 |
+
"paths": {
|
| 12 |
+
"run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand",
|
| 13 |
+
"merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory",
|
| 14 |
+
"metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Metadata",
|
| 15 |
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"vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 16 |
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"raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 17 |
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"vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
|
| 18 |
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"raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
|
| 19 |
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"metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Metadata/pc_metadata.json"
|
| 20 |
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},
|
| 21 |
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"config": {
|
| 22 |
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"hand_name": "right_hand",
|
| 23 |
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"tracker_index": null,
|
| 24 |
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"tracker_indices": [
|
| 25 |
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null,
|
| 26 |
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null
|
| 27 |
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],
|
| 28 |
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"tracker_serial": "LHR-F47559F6",
|
| 29 |
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"tracker_serials": [
|
| 30 |
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"LHR-26B06EF4",
|
| 31 |
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"LHR-F47559F6"
|
| 32 |
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],
|
| 33 |
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"vive_hz": 200.0,
|
| 34 |
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"max_seconds": 180.0,
|
| 35 |
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"stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/control/stop_left_hand.flag",
|
| 36 |
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"sync_mode": "deferred_arm",
|
| 37 |
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"capture_clock": "wall_clock",
|
| 38 |
+
"capture_start_time_ns": 1792831512497745277,
|
| 39 |
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"capture_stop_time_ns": 1792831522443009805,
|
| 40 |
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"effective_capture_stop_time_ns": 1792831522443009805,
|
| 41 |
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"capture_start_guard_s": 0.5,
|
| 42 |
+
"bias_mode": "first_sample_at_or_after_t0",
|
| 43 |
+
"output_format": "timestamp x y z qx qy qz qw",
|
| 44 |
+
"raw_output_format": "timestamp x y z qx qy qz qw",
|
| 45 |
+
"raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 46 |
+
"coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
|
| 47 |
+
"openvr_query_mode": "single_process_single_query_dual_tracker",
|
| 48 |
+
"tracker_index_used": 2,
|
| 49 |
+
"tracker_serial_used": "LHR-F47559F6",
|
| 50 |
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"vive_bias": {
|
| 51 |
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"x0": 0.14469003677368164,
|
| 52 |
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"y0": -0.7426201105117798,
|
| 53 |
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"z0": -0.995385468006134,
|
| 54 |
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"qx0": 0.17366791135855272,
|
| 55 |
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"qy0": 0.6601632006971632,
|
| 56 |
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"qz0": -0.17829155959705548,
|
| 57 |
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"qw0": 0.7086861962717241
|
| 58 |
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},
|
| 59 |
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"zero_reference_sample_ns": 1792831512505587849
|
| 60 |
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},
|
| 61 |
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"data_mark": "FORMAL",
|
| 62 |
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"test_artifact": false,
|
| 63 |
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"result": {
|
| 64 |
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"sample_count": 1988,
|
| 65 |
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| 66 |
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|
| 67 |
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| 68 |
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|
| 72 |
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|
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|
| 75 |
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|
| 76 |
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"sample_duration_s": 9.934878545,
|
| 77 |
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"sample_timestamp_hz": 200.00244502234125,
|
| 78 |
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"artifacts": {
|
| 79 |
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|
| 80 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 81 |
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"exists": true,
|
| 82 |
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"size_bytes": 218367
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| 83 |
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},
|
| 84 |
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"raw_trajectory": {
|
| 85 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 86 |
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"exists": true,
|
| 87 |
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"size_bytes": 216692
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| 88 |
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},
|
| 89 |
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"trajectory_tmp": {
|
| 90 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
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| 91 |
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"raw_trajectory_tmp": {
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| 95 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164508_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
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|
| 100 |
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}
|
| 101 |
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}
|
opening and closing/session_20261024_164508_00045/right_hand/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,399 @@
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opening and closing/session_20261024_164540_00047/left_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,628 @@
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opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/merged_trajectory.txt
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The diff for this file is too large to render.
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opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt
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The diff for this file is too large to render.
See raw diff
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opening and closing/session_20261024_164540_00047/left_hand/Metadata/metadata.json
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| 1 |
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{
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"project": "Tele-UMI",
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},
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"video_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164540_00047/left_hand/RGB_Images/video.mp4",
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"clamp_data_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164540_00047/left_hand/Clamp_Data/clamp_data_tum.txt",
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"metadata_path": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164540_00047/left_hand/Metadata/metadata.json",
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},
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"AnalogueGain": 6.1,
|
| 311 |
+
"ColourGains": [
|
| 312 |
+
1.3,
|
| 313 |
+
1.55
|
| 314 |
+
]
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"camera_encoder": "opencv_video_writer",
|
| 318 |
+
"clamp_sample_count": 627,
|
| 319 |
+
"clamp_first_sample_time_ns": 1792831544108381889,
|
| 320 |
+
"clamp_last_sample_time_ns": 1792831554541733697,
|
| 321 |
+
"clamp_actual_hz": 59.99989375609868,
|
| 322 |
+
"clamp_value_min": 17.466382586097694,
|
| 323 |
+
"clamp_value_max": 100.0,
|
| 324 |
+
"as5600_diagnostics": {
|
| 325 |
+
"queue_size": 600,
|
| 326 |
+
"queue_depth": 0,
|
| 327 |
+
"max_queue_depth": 206,
|
| 328 |
+
"read_count": 1926,
|
| 329 |
+
"read_error_count": 0,
|
| 330 |
+
"queue_overrun_count": 0,
|
| 331 |
+
"last_read_error": null
|
| 332 |
+
},
|
| 333 |
+
"main_loop_iterations": 2328
|
| 334 |
+
},
|
| 335 |
+
"notes": [
|
| 336 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 337 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 338 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 339 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 340 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 341 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 342 |
+
]
|
| 343 |
+
}
|
opening and closing/session_20261024_164540_00047/left_hand/Metadata/pc_joint_metadata.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
opening and closing/session_20261024_164540_00047/left_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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|
| 1 |
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{
|
| 2 |
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"project": "Tele-UMI",
|
| 3 |
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"version": "v2",
|
| 4 |
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"role": "windows_vive_dual_capture",
|
| 5 |
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"created_time_ns": 1792831540659182016,
|
| 6 |
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"platform": {
|
| 7 |
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"system": "Linux",
|
| 8 |
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"release": "5.15.0-139-generic",
|
| 9 |
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"machine": "x86_64"
|
| 10 |
+
},
|
| 11 |
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"paths": {
|
| 12 |
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"run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand",
|
| 13 |
+
"merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory",
|
| 14 |
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"metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Metadata",
|
| 15 |
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"vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 16 |
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"raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 17 |
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"vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
|
| 18 |
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"raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
|
| 19 |
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"metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Metadata/pc_metadata.json"
|
| 20 |
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},
|
| 21 |
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"config": {
|
| 22 |
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"hand_name": "left_hand",
|
| 23 |
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"tracker_index": null,
|
| 24 |
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"tracker_indices": [
|
| 25 |
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null,
|
| 26 |
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null
|
| 27 |
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],
|
| 28 |
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"tracker_serial": "LHR-26B06EF4",
|
| 29 |
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"tracker_serials": [
|
| 30 |
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"LHR-26B06EF4",
|
| 31 |
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"LHR-F47559F6"
|
| 32 |
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],
|
| 33 |
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"vive_hz": 200.0,
|
| 34 |
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"max_seconds": 180.0,
|
| 35 |
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"stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/control/stop_left_hand.flag",
|
| 36 |
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"sync_mode": "deferred_arm",
|
| 37 |
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"capture_clock": "wall_clock",
|
| 38 |
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"capture_start_time_ns": 1792831544092137235,
|
| 39 |
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|
| 40 |
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|
| 41 |
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"capture_start_guard_s": 0.5,
|
| 42 |
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"bias_mode": "first_sample_at_or_after_t0",
|
| 43 |
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"output_format": "timestamp x y z qx qy qz qw",
|
| 44 |
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"raw_output_format": "timestamp x y z qx qy qz qw",
|
| 45 |
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"raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 46 |
+
"coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
|
| 47 |
+
"openvr_query_mode": "single_process_single_query_dual_tracker",
|
| 48 |
+
"tracker_index_used": 1,
|
| 49 |
+
"tracker_serial_used": "LHR-26B06EF4",
|
| 50 |
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"vive_bias": {
|
| 51 |
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"x0": 0.1701432466506958,
|
| 52 |
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"y0": -0.7443827986717224,
|
| 53 |
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"z0": -0.6100738048553467,
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| 54 |
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"qx0": 0.12363590126168647,
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| 55 |
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"qy0": 0.7043925526438389,
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| 56 |
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"qz0": -0.16160263789259766,
|
| 57 |
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"qw0": 0.6800219725312272
|
| 58 |
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},
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| 59 |
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|
| 60 |
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},
|
| 61 |
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|
| 62 |
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"test_artifact": false,
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| 63 |
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"result": {
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| 64 |
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| 65 |
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|
| 76 |
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|
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|
| 78 |
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| 79 |
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|
| 80 |
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| 81 |
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|
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| 84 |
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"raw_trajectory": {
|
| 85 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 86 |
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"exists": true,
|
| 87 |
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"size_bytes": 227768
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| 88 |
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},
|
| 89 |
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"trajectory_tmp": {
|
| 90 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/merged_trajectory.txt.part",
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"raw_trajectory_tmp": {
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| 95 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt.part",
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}
|
| 101 |
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}
|
opening and closing/session_20261024_164540_00047/left_hand/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,419 @@
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opening and closing/session_20261024_164540_00047/left_hand/RGB_Images/video.mp4
ADDED
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version https://git-lfs.github.com/spec/v1
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size 13615395
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opening and closing/session_20261024_164540_00047/right_hand/Clamp_Data/clamp_data_tum.txt
ADDED
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@@ -0,0 +1,628 @@
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opening and closing/session_20261024_164540_00047/right_hand/Clamp_Data/clamp_timebase.csv
ADDED
|
@@ -0,0 +1,629 @@
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|
| 1 |
+
sample_id,timestamp_ns,monotonic_ns,value
|
| 2 |
+
0,1792831544093163499,1670934490113,100.0000
|
| 3 |
+
1,1792831544109862282,1670951191007,100.0000
|
| 4 |
+
2,1792831544126736082,1670968063084,100.0000
|
| 5 |
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3,1792831544143123739,1670984450797,100.0000
|
| 6 |
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4,1792831544159862429,1671001191820,100.0000
|
| 7 |
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5,1792831544176504491,1671017831271,99.8081
|
| 8 |
+
6,1792831544193169793,1671034496647,99.8081
|
| 9 |
+
7,1792831544209900039,1671051227911,100.0000
|
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opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt
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opening and closing/session_20261024_164540_00047/right_hand/Metadata/metadata.json
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| 1 |
+
{
|
| 2 |
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"project": "Tele-UMI",
|
| 3 |
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"version": "v2",
|
| 4 |
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"role": "raspberry_pi_capture",
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| 5 |
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"created_time_ns": 1792831554548542723,
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"platform": {
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"system": "Linux",
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"release": "6.12.75+rpt-rpi-2712",
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"machine": "aarch64"
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},
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| 11 |
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"paths": {
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| 12 |
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"run_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164540_00047/right_hand",
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| 13 |
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"rgb_dir": "/home/zhang/teleumi-v2/datasets/opening and closing/session_20261024_164540_00047/right_hand/RGB_Images",
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| 14 |
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| 327 |
+
"max_queue_depth": 206,
|
| 328 |
+
"read_count": 1926,
|
| 329 |
+
"read_error_count": 0,
|
| 330 |
+
"queue_overrun_count": 0,
|
| 331 |
+
"last_read_error": null
|
| 332 |
+
},
|
| 333 |
+
"main_loop_iterations": 2337
|
| 334 |
+
},
|
| 335 |
+
"notes": [
|
| 336 |
+
"树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。",
|
| 337 |
+
"夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。",
|
| 338 |
+
"VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。",
|
| 339 |
+
"首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。",
|
| 340 |
+
"下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。",
|
| 341 |
+
"逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。"
|
| 342 |
+
]
|
| 343 |
+
}
|
opening and closing/session_20261024_164540_00047/right_hand/Metadata/pc_joint_metadata.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
opening and closing/session_20261024_164540_00047/right_hand/Metadata/pc_metadata.json
ADDED
|
@@ -0,0 +1,101 @@
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|
| 1 |
+
{
|
| 2 |
+
"project": "Tele-UMI",
|
| 3 |
+
"version": "v2",
|
| 4 |
+
"role": "windows_vive_dual_capture",
|
| 5 |
+
"created_time_ns": 1792831540659200686,
|
| 6 |
+
"platform": {
|
| 7 |
+
"system": "Linux",
|
| 8 |
+
"release": "5.15.0-139-generic",
|
| 9 |
+
"machine": "x86_64"
|
| 10 |
+
},
|
| 11 |
+
"paths": {
|
| 12 |
+
"run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand",
|
| 13 |
+
"merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory",
|
| 14 |
+
"metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Metadata",
|
| 15 |
+
"vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 16 |
+
"raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 17 |
+
"vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
|
| 18 |
+
"raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
|
| 19 |
+
"metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Metadata/pc_metadata.json"
|
| 20 |
+
},
|
| 21 |
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"config": {
|
| 22 |
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"hand_name": "right_hand",
|
| 23 |
+
"tracker_index": null,
|
| 24 |
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"tracker_indices": [
|
| 25 |
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null,
|
| 26 |
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null
|
| 27 |
+
],
|
| 28 |
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"tracker_serial": "LHR-F47559F6",
|
| 29 |
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"tracker_serials": [
|
| 30 |
+
"LHR-26B06EF4",
|
| 31 |
+
"LHR-F47559F6"
|
| 32 |
+
],
|
| 33 |
+
"vive_hz": 200.0,
|
| 34 |
+
"max_seconds": 180.0,
|
| 35 |
+
"stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/control/stop_left_hand.flag",
|
| 36 |
+
"sync_mode": "deferred_arm",
|
| 37 |
+
"capture_clock": "wall_clock",
|
| 38 |
+
"capture_start_time_ns": 1792831544092137235,
|
| 39 |
+
"capture_stop_time_ns": 1792831554543333994,
|
| 40 |
+
"effective_capture_stop_time_ns": 1792831554543333994,
|
| 41 |
+
"capture_start_guard_s": 0.5,
|
| 42 |
+
"bias_mode": "first_sample_at_or_after_t0",
|
| 43 |
+
"output_format": "timestamp x y z qx qy qz qw",
|
| 44 |
+
"raw_output_format": "timestamp x y z qx qy qz qw",
|
| 45 |
+
"raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 46 |
+
"coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化",
|
| 47 |
+
"openvr_query_mode": "single_process_single_query_dual_tracker",
|
| 48 |
+
"tracker_index_used": 2,
|
| 49 |
+
"tracker_serial_used": "LHR-F47559F6",
|
| 50 |
+
"vive_bias": {
|
| 51 |
+
"x0": 0.13849252462387085,
|
| 52 |
+
"y0": -0.7359825372695923,
|
| 53 |
+
"z0": -0.9911787509918213,
|
| 54 |
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"qx0": 0.11136796709469207,
|
| 55 |
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"qy0": 0.6516472952574323,
|
| 56 |
+
"qz0": -0.09384752406807455,
|
| 57 |
+
"qw0": 0.7444095786025062
|
| 58 |
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},
|
| 59 |
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"zero_reference_sample_ns": 1792831544098626560
|
| 60 |
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},
|
| 61 |
+
"data_mark": "FORMAL",
|
| 62 |
+
"test_artifact": false,
|
| 63 |
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"result": {
|
| 64 |
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"sample_count": 2089,
|
| 65 |
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"invalid_reads": 0,
|
| 66 |
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"disconnected_reads": 0,
|
| 67 |
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"invalid_pose_reads": 0,
|
| 68 |
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"recording_disconnected_reads": 0,
|
| 69 |
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"recording_invalid_pose_reads": 0,
|
| 70 |
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"started_time_ns": 1792831544093475601,
|
| 71 |
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"effective_record_start_time_ns": 1792831544093475601,
|
| 72 |
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"stopped_time_ns": 1792831554543671866,
|
| 73 |
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"effective_capture_stop_time_ns": 1792831554543333994,
|
| 74 |
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"first_sample_time_ns": 1792831544098626560,
|
| 75 |
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"last_sample_time_ns": 1792831554538489976,
|
| 76 |
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"sample_duration_s": 10.439863416,
|
| 77 |
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"sample_timestamp_hz": 200.0026165859563,
|
| 78 |
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"artifacts": {
|
| 79 |
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"trajectory": {
|
| 80 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/merged_trajectory.txt",
|
| 81 |
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"exists": true,
|
| 82 |
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"size_bytes": 228441
|
| 83 |
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},
|
| 84 |
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"raw_trajectory": {
|
| 85 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt",
|
| 86 |
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"exists": true,
|
| 87 |
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"size_bytes": 227701
|
| 88 |
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},
|
| 89 |
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"trajectory_tmp": {
|
| 90 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/merged_trajectory.txt.part",
|
| 91 |
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"exists": false,
|
| 92 |
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"size_bytes": 0
|
| 93 |
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},
|
| 94 |
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"raw_trajectory_tmp": {
|
| 95 |
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"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/opening and closing/session_20261024_164540_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt.part",
|
| 96 |
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|
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| 99 |
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}
|
| 100 |
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}
|
| 101 |
+
}
|
opening and closing/session_20261024_164540_00047/right_hand/RGB_Images/timestamps.csv
ADDED
|
@@ -0,0 +1,419 @@
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