| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - bimanual |
| - manipulation |
| - teleoperation |
| - imitation_learning |
| pretty_name: Amplibotics Block Tower |
| --- |
| # Dataset Card for Amplibotics Block Tower |
|
|
| <!-- Provide a quick summary of the dataset. --> |
|
|
| Raw Capture MCAP files - teleoperated demonstrations of block tower stacking. |
|
|
| - **Created by:** Amplibotics |
| - **Recorded at:** Amplibotics Robot Farm |
| - **Language(s):** English |
|
|
| ## Dataset Structure |
|
|
| <!-- This section provides a description of the dataset fields, and additional information about the dataset structure such as criteria used to create the splits, relationships between data points, etc. --> |
|
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| **File Type:** MCAP |
|
|
| ## Metadata Records |
|
|
| | Record | Description | Count | Schema | |
| |------------------|---------------------------------------------------------------------------|------------|-----------------------------------------------------------| |
| | `session` | Session-level metadata including equipment configuration and identifiers. | Exactly 1 | [session.md](../../../../metadata/bus/v1/docs/session.md) | |
| | `episode_<uuid>` | Episode-level metadata for the recorded task attempt. | Exactly 1 | [episode.md](../../../../metadata/bus/v1/docs/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](../../../../message/proto/gen/messages.md#amplibotics-capture-RobotState) | protobuf | 1-2 | |
| | `/robot_<name>/command` | Commanded end-effector pose and velocity targets. | [RobotCommand](../../../../message/proto/gen/messages.md#amplibotics-bus-RobotCommand) | protobuf | 1-2 | |
| | `/robot_<name>/dh_parameters` | Denavit-Hartenberg kinematic parameters for the robot arm. | [RobotDHParameters](../../../../message/proto/gen/messages.md#amplibotics-capture-RobotDHParameters) | protobuf | 1-2 | |
| | `/tool_<name>/state` | Gripper state. | [ToolState](../../../../message/proto/gen/messages.md#amplibotics-capture-ToolState) | protobuf | 1-2 | |
| | `/tool_<name>/command` | Commanded gripper position. | [ToolCommand](../../../../message/proto/gen/messages.md#amplibotics-capture-ToolCommand) | protobuf | 1-2 | |
| | `/tool_<name>/info` | Tool info. | [GripperInfo](../../../../message/proto/gen/messages.md#amplibotics-capture-GripperInfo) | protobuf | At least 1 | |
| | `/camera_<name>/image` | Compressed video frames from cameras. | [CompressedVideo](../../../../message/proto/gen/messages.md#foxglove-CompressedVideo) | protobuf | At least 1 | |
| | `/camera_<name>/info` | Camera intrinsic and extrinsic calibration parameters. | [CameraCalibration](../../../../message/proto/gen/messages.md#foxglove-CameraCalibration) | protobuf | At least 1 | |
| | `/camera_<name>/extrinsics` | Camera extrinsic calibration parameters. | [HandEyeCalibration](../../../../message/proto/gen/messages.md#amplibotics-capture-HandEyeCalibration) | protobuf | Any number | |
| | `/tf_static` | Static coordinate frame transforms (e.g., camera mounts). | [FrameTransforms](../../../../message/proto/gen/messages.md#foxglove-FrameTransforms) | protobuf | Exactly 1 | |
| | `/tf` | Non-static instantaneous TF trees. | [FrameTransforms](../../../../message/proto/gen/messages.md#foxglove-FrameTransforms) | protobuf | Exactly 1 | |
| | `/episode/events` | Episode lifecycle events (start, end, subtasks). | [EpisodeEvent](../../../../message/proto/gen/messages.md#amplibotics-capture-EpisodeEvent) | protobuf | Exactly 1 | |
|
|
| ## Protobuf Messages |
|
|
|
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| <a name="amplibotics-capture-Episode"></a> |
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|
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| ### Episode |
| A task completion attempt |
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|
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | id | [string](#string) | | UUID: "123e4567-e89b-12d3-a456-426614174000" | |
| | instruction | [string](#string) | | Natural language task instruction | |
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|
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| <a name="amplibotics-capture-EpisodeEvent"></a> |
|
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| ### EpisodeEvent |
| Used for both episode lifecycle events and subtask events: |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | event_type | [EpisodeEvent.EventType](#amplibotics-capture-EpisodeEvent-EventType) | | classification of this event | |
| | episode | [Episode](#amplibotics-capture-Episode) | | set for EPISODE_* events & SUBTASK_* events | |
| | subtask | [Subtask](#amplibotics-capture-Subtask) | | only set for SUBTASK_* events | |
| | result | [TaskResult](#amplibotics-capture-TaskResult) | | only set for *_END events | |
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| <a name="amplibotics-capture-GripperCommand"></a> |
| |
| ### GripperCommand |
| Command sent to parallel-jaw gripper |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | position | [float](#float) | | 0 is open, 1 is closed until effort threshold is met. Stored as float, but sent as boolean value for this gripper configuration. | |
| |
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| <a name="amplibotics-capture-GripperInfo"></a> |
| |
| ### GripperInfo |
| Parallel jaw gripper information |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | open_span_mm | [float](#float) | | Gripper span when fully open (mm) | |
| | closed_span_mm | [float](#float) | | Gripper span when fully closed (mm) | |
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| <a name="amplibotics-capture-GripperState"></a> |
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| ### GripperState |
| State of parallel-jaw gripper |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | position | [float](#float) | | 'spans' travelled. 0 is open, 1 is closed | |
| | velocity | [float](#float) | | 'spans' per second | |
| | acceleration | [float](#float) | | 'spans' per second^2' | |
| | effort | [float](#float) | | Dynamixel current in mA | |
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| |
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| <a name="amplibotics-capture-JointDHParam"></a> |
| |
| ### JointDHParam |
| DH parameters for a single joint |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | d | [float](#float) | | Link offset in mm | |
| | a | [float](#float) | | Link length in mm | |
| | alpha | [float](#float) | | Link twist in radians | |
| | theta | [float](#float) | | Joint angle offset in radians | |
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| |
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| <a name="amplibotics-capture-Pose"></a> |
| |
| ### Pose |
| Pose given as xyz position and xyzw quaternion |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | x | [float](#float) | | mm relative to robot's base frame | |
| | y | [float](#float) | | mm relative to robot's base frame | |
| | z | [float](#float) | | mm relative to robot's base frame | |
| | qx | [float](#float) | | Quaternion orientation (x) relative to robot's base frame | |
| | qy | [float](#float) | | Quaternion orientation (y) relative to robot's base frame | |
| | qz | [float](#float) | | Quaternion orientation (z) relative to robot's base frame | |
| | qw | [float](#float) | | Quaternion orientation (w) relative to robot's base frame | |
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| <a name="amplibotics-capture-RawInput"></a> |
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| ### RawInput |
| Raw controller input signals |
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| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | axes | [float](#float) | repeated | Raw axis values | |
| | buttons | [bool](#bool) | repeated | Raw button states | |
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| <a name="amplibotics-capture-RobotDHParameters"></a> |
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| ### RobotDHParameters |
| DH parameters for a robot |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | dh_parameters | [JointDHParam](#amplibotics-capture-JointDHParam) | repeated | DH parameters from robot | |
| | dh_tool_parameters | [JointDHParam](#amplibotics-capture-JointDHParam) | repeated | DH parameters with TCP offset applied | |
| | base_transform | [Pose](#amplibotics-capture-Pose) | | Base-to-world mounting transform (identity = flat table mount) | |
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| <a name="amplibotics-capture-RobotState"></a> |
| |
| ### RobotState |
| State reported by robot |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | joint_positions | [float](#float) | repeated | rad | |
| | joint_velocities | [float](#float) | repeated | rad/s | |
| | joint_accelerations | [float](#float) | repeated | rad/s^2 | |
| | joint_efforts | [float](#float) | repeated | estimated joint torques computed by robot's controller (Nm) | |
| | joint_position_sub_commands | [float](#float) | repeated | the applied joint position commands the robot’s controller is currently executing (rad) | |
| | ee_pose | [Pose](#amplibotics-capture-Pose) | | end effector pose | |
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| <a name="amplibotics-capture-Subtask"></a> |
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| ### Subtask |
| A subtask representing a shorter-horizon segment of the overall task |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | instruction | [string](#string) | | Natural language subtask instruction | |
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| <a name="amplibotics-capture-TaskResult"></a> |
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| ### TaskResult |
| Information about the outcome of a task or subtask attempt |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | success | [bool](#bool) | | True if task completed successfully, false if not | |
| | label | [string](#string) | | 'success', 'failure', 'recovery', or 'impossible' | |
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| <a name="amplibotics-capture-ToolCommand"></a> |
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| ### ToolCommand |
| Command sent to robot's tool/end-effector |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | gripper | [GripperCommand](#amplibotics-capture-GripperCommand) | | | |
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| <a name="amplibotics-capture-ToolState"></a> |
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| ### ToolState |
| State of robot's tool/end-effector |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | gripper | [GripperState](#amplibotics-capture-GripperState) | | | |
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| <a name="amplibotics-capture-EpisodeEvent-EventType"></a> |
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| ### 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 | |
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| <a name="amplibotics-bus-RobotCommand"></a> |
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| ### RobotCommand |
| Robot command with computed kinematics fields. |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | target_ee_pose | [amplibotics.capture.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](#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](#float) | repeated | Target joint angles from IK (radians) | |
| | raw_input | [amplibotics.capture.RawInput](#amplibotics-capture-RawInput) | | Optional raw controller input | |
| | target_joint_velocities | [float](#float) | repeated | rad/s, computed from target_joint_positions | |
| | target_joint_accelerations | [float](#float) | repeated | rad/s², computed from target_joint_velocities | |
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| <a name="foxglove-CameraCalibration"></a> |
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| ### CameraCalibration |
| Camera calibration parameters |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | frame_id | [string](#string) | | | |
| | width | [fixed32](#fixed32) | | | |
| | height | [fixed32](#fixed32) | | | |
| | distortion_model | [string](#string) | | | |
| | D | [double](#double) | repeated | | |
| | K | [double](#double) | repeated | length 9 | |
| | R | [double](#double) | repeated | length 9 | |
| | P | [double](#double) | repeated | length 12 | |
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| <a name="foxglove-CompressedVideo"></a> |
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| ### CompressedVideo |
| A single frame of a compressed video bitstream |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | Timestamp of video frame | |
| | frame_id | [string](#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](#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](#string) | | Video format. Supported values: h264, h265, vp9, av1 | |
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| <a name="foxglove-FrameTransform"></a> |
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| ### FrameTransform |
| A transform between two reference frames in 3D space |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | [google.protobuf.Timestamp](#google-protobuf-Timestamp) | | protobuf Timestamp (int seconds & nanos) | |
| | parent_frame_id | [string](#string) | | | |
| | child_frame_id | [string](#string) | | | |
| | translation | [Vector3](#foxglove-Vector3) | | meters | |
| | rotation | [Quaternion](#foxglove-Quaternion) | | | |
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| <a name="foxglove-FrameTransforms"></a> |
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| ### FrameTransforms |
| An array of transforms, each of which can transform points from a child frame to its parent frame |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | transforms | [FrameTransform](#foxglove-FrameTransform) | repeated | | |
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| <a name="foxglove-Quaternion"></a> |
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| ### Quaternion |
| A quaternion representing a rotation in 3D space |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | x | [double](#double) | | | |
| | y | [double](#double) | | | |
| | z | [double](#double) | | | |
| | w | [double](#double) | | | |
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| <a name="foxglove-Vector3"></a> |
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| ### Vector3 |
| A vector in 3D space that represents a direction only |
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| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | x | [double](#double) | | | |
| | y | [double](#double) | | | |
| | z | [double](#double) | | | |
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