Record	Description	Count	Schema
`session`	Session-level metadata including equipment configuration and identifiers.	Exactly 1	session.md
`episode_<uuid>`	Episode-level metadata for the recorded task attempt.	Exactly 1	episode.md

`session` Metadata Record

Key	Type	Required	Description
`session-uuid`	string	Yes	Unique identifier for this capture session (UUID v4).
`station-uuid`	string	Yes	Identifier for the physical workstation (UUID v4).
`pilot-uuid`	string	Yes	Identifier for the pilot/operator who performed the session (UUID v4).
`start-time-unix`	float	Yes	Session start time as Unix timestamp (seconds since epoch).
`controller-type`	string	Yes	Type of controller hardware used for the session.
`robot-left-model`	string	Yes	Model identifier for the left robot arm.
`robot-right-model`	string	Yes	Model identifier for the right robot arm.
`gripper-left-model`	string	Yes	Model identifier for the left gripper/end-effector.
`gripper-right-model`	string	Yes	Model identifier for the right gripper/end-effector.
`urdf-permalink`	string	Yes	URL to the URDF file describing the robot configuration.
`collector-name`	string	Yes	Name of the data collection software.
`collector-version`	string	Yes	Semantic version of the collector software.
`schema-version`	string	No	data schema used by the collector.
`data-contract`	string	No	Contract ID this file conforms to.

`episode_<uuid>` Metadata Record

Key	Type	Required	Description
`start_time`	integer	Yes	Episode start time in nanoseconds since Unix epoch.
`end_time`	integer	Yes	Episode end time in nanoseconds since Unix epoch.
`task`	string	Yes	Task instruction for this episode.
`success`	boolean	Yes	Whether the episode completed successfully.
`error`	string	No	Error message if the episode failed.
`is_discard`	boolean	No	Whether this episode was marked for discard during collection.

Topics

Topic Pattern	Description	Schema	Encoding	Count
`/robot_<name>/state`	Robot arm joint states end-effector pose.	RobotState	protobuf	1-2
`/robot_<name>/command`	Commanded end-effector pose and velocity targets.	RobotCommand	protobuf	1-2
`/robot_<name>/dh_parameters`	Denavit-Hartenberg kinematic parameters for the robot arm.	RobotDHParameters	protobuf	1-2
`/tool_<name>/state`	Gripper state.	ToolState	protobuf	1-2
`/tool_<name>/command`	Commanded gripper position.	ToolCommand	protobuf	1-2
`/tool_<name>/info`	Tool info.	GripperInfo	protobuf	At least 1
`/camera_<name>/image`	Compressed video frames from cameras.	CompressedVideo	protobuf	At least 1
`/camera_<name>/info`	Camera intrinsic and extrinsic calibration parameters.	CameraCalibration	protobuf	At least 1
`/camera_<name>/extrinsics`	Camera extrinsic calibration parameters.	HandEyeCalibration	protobuf	Any number
`/tf_static`	Static coordinate frame transforms (e.g., camera mounts).	FrameTransforms	protobuf	Exactly 1
`/tf`	Non-static instantaneous TF trees.	FrameTransforms	protobuf	Exactly 1
`/episode/events`	Episode lifecycle events (start, end, subtasks).	EpisodeEvent	protobuf	Exactly 1

Protobuf Messages

Episode

A task completion attempt

Field	Type	Label	Description
id	string		UUID: "123e4567-e89b-12d3-a456-426614174000"
instruction	string		Natural language task instruction

EpisodeEvent

Used for both episode lifecycle events and subtask events:

Field	Type	Description
timestamp	google.protobuf.Timestamp	protobuf Timestamp (int seconds & nanos)
event_type	EpisodeEvent.EventType	classification of this event
episode	Episode	set for EPISODE_* events & SUBTASK_* events
subtask	Subtask	only set for SUBTASK_* events
result	TaskResult	only set for *_END events

GripperCommand

Command sent to parallel-jaw gripper

Field	Type	Label	Description
position	float		0 is open, 1 is closed until effort threshold is met. Stored as float, but sent as boolean value for this gripper configuration.

GripperInfo

Parallel jaw gripper information

Field	Type	Label	Description
open_span_mm	float		Gripper span when fully open (mm)
closed_span_mm	float		Gripper span when fully closed (mm)

GripperState

State of parallel-jaw gripper

Field	Type	Description
position	float	'spans' travelled. 0 is open, 1 is closed
velocity	float	'spans' per second
acceleration	float	'spans' per second^2'
effort	float	Dynamixel current in mA

JointDHParam

DH parameters for a single joint

Field	Type	Description
d	float	Link offset in mm
a	float	Link length in mm
alpha	float	Link twist in radians
theta	float	Joint angle offset in radians

Pose

Pose given as xyz position and xyzw quaternion

Field	Type	Description
x	float	mm relative to robot's base frame
y	float	mm relative to robot's base frame
z	float	mm relative to robot's base frame
qx	float	Quaternion orientation (x) relative to robot's base frame
qy	float	Quaternion orientation (y) relative to robot's base frame
qz	float	Quaternion orientation (z) relative to robot's base frame
qw	float	Quaternion orientation (w) relative to robot's base frame

RawInput

Raw controller input signals

Field	Type	Label	Description
axes	float	repeated	Raw axis values
buttons	bool	repeated	Raw button states

RobotDHParameters

DH parameters for a robot

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp		protobuf Timestamp (int seconds & nanos)
dh_parameters	JointDHParam	repeated	DH parameters from robot
dh_tool_parameters	JointDHParam	repeated	DH parameters with TCP offset applied
base_transform	Pose		Base-to-world mounting transform (identity = flat table mount)

RobotState

State reported by robot

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp		protobuf Timestamp (int seconds & nanos)
joint_positions	float	repeated	rad
joint_velocities	float	repeated	rad/s
joint_accelerations	float	repeated	rad/s^2
joint_efforts	float	repeated	estimated joint torques computed by robot's controller (Nm)
joint_position_sub_commands	float	repeated	the applied joint position commands the robot’s controller is currently executing (rad)
ee_pose	Pose		end effector pose

Subtask

A subtask representing a shorter-horizon segment of the overall task

Field	Type	Label	Description
instruction	string		Natural language subtask instruction

TaskResult

Information about the outcome of a task or subtask attempt

Field	Type	Label	Description
success	bool		True if task completed successfully, false if not
label	string		'success', 'failure', 'recovery', or 'impossible'

ToolCommand

Command sent to robot's tool/end-effector

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp		protobuf Timestamp (int seconds & nanos)
gripper	GripperCommand

ToolState

State of robot's tool/end-effector

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp		protobuf Timestamp (int seconds & nanos)
gripper	GripperState

EpisodeEvent.EventType

EpisodeEvent classification (enum)

Name	Number	Description
EVENT_TYPE_UNSPECIFIED	0
EPISODE_START	1	Event marks start of episode
EPISODE_END	2	Event marks end of episode
SUBTASK_START	3	Event marks start of subtask
SUBTASK_END	4	Event marks end of subtask

RobotCommand

Robot command with computed kinematics fields.

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp		protobuf Timestamp (int seconds & nanos)
target_ee_pose	amplibotics.capture.Pose		Absolute target end-effector pose (xyz in mm, orientation in quaternion). Commanded with leader arms, computed when using flight sticks.
ee_velocity	amplibotics.capture.Pose		End-effector velocity (xyz in mm/s, quaternion in 1/s). Commanded with flight sticks, computed when using leader arms.
target_joint_positions	float	repeated	Target joint angles from IK (radians)
raw_input	amplibotics.capture.RawInput		Optional raw controller input
target_joint_velocities	float	repeated	rad/s, computed from target_joint_positions
target_joint_accelerations	float	repeated	rad/s², computed from target_joint_velocities

CameraCalibration

Camera calibration parameters

Field	Type	Label	Description
timestamp	google.protobuf.Timestamp		protobuf Timestamp (int seconds & nanos)
frame_id	string
width	fixed32
height	fixed32
distortion_model	string
D	double	repeated
K	double	repeated	length 9
R	double	repeated	length 9
P	double	repeated	length 12

CompressedVideo

A single frame of a compressed video bitstream

Field	Type	Description
timestamp	google.protobuf.Timestamp	Timestamp of video frame
frame_id	string	Frame of reference for the video. The origin of the frame is the optical center of the camera. +x points to the right in the video, +y points down, and +z points into the plane of the video.
data	bytes	Compressed video frame data. For packet-based video codecs this data must begin and end on packet boundaries (no partial packets), and must contain enough video packets to decode exactly one image (either a keyframe or delta frame). Note: Foxglove does not support video streams that include B frames because they require lookahead.
format	string	Video format. Supported values: h264, h265, vp9, av1

FrameTransform

A transform between two reference frames in 3D space

Field	Type	Description
timestamp	google.protobuf.Timestamp	protobuf Timestamp (int seconds & nanos)
parent_frame_id	string
child_frame_id	string
translation	Vector3	meters
rotation	Quaternion

FrameTransforms

An array of transforms, each of which can transform points from a child frame to its parent frame

Field	Type	Label	Description
transforms	FrameTransform	repeated

Quaternion

A quaternion representing a rotation in 3D space

Field	Type	Label	Description
x	double
y	double
z	double
w	double

Vector3

A vector in 3D space that represents a direction only

Field	Type	Label	Description
x	double
y	double
z	double

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Dataset Structure

Metadata Records

session Metadata Record

episode_<uuid> Metadata Record