| --- |
| license: mit |
| task_categories: |
| - robotics |
| language: |
| - en |
| tags: |
| - bimanual |
| - manipulation |
| - teleoperation |
| - imitation_learning |
| - VLA |
| pretty_name: Amplibotics Samples |
| --- |
| # Dataset Card for Amplibotics Samples |
|
|
| <!-- Provide a quick summary of the dataset. --> |
|
|
| ### Tasks Included in This Sample |
| <table> |
| <thead> |
| <tr> |
| <th scope="col">Laundry</th> |
| <th scope="col">Manufacturing</th> |
| <th scope="col">Kitting</th> |
| <th scope="col">Waste Disposal</th> |
| </tr> |
| </thead> |
| <tbody> |
| <tr> |
| <td> |
| <video src="https://cdn-uploads.huggingface.co/production/uploads/6a2dfdcf2c245b9b2e096ad1/tycRL5F8qOuwe8eVLhRle.mp4" autoplay muted loop playsinline></video> |
| </td> |
| <td> |
| <video src="https://cdn-uploads.huggingface.co/production/uploads/6a2dfdcf2c245b9b2e096ad1/Dq0vl7Iww0HBOcYlM2eY8.mp4" autoplay muted loop playsinline></video> |
| </td> |
| <td> |
| <video src="https://cdn-uploads.huggingface.co/production/uploads/6a2dfdcf2c245b9b2e096ad1/p82FnXcHu5Xs0rBlZKTHu.mp4" autoplay muted loop playsinline></video> |
| </td> |
| <td> |
| <video src="https://cdn-uploads.huggingface.co/production/uploads/6a2dfdcf2c245b9b2e096ad1/z_ntgKs9jMnWREN4ImD9f.mp4" autoplay muted loop playsinline></video> |
| </td> |
| </tr> |
| <tr> |
| <td> |
| <ul> |
| <li>pants_folding</li> |
| </ul> |
| </td> |
| <td> |
| <ul> |
| <li>parts_unbagging</li> |
| </ul> |
| </td> |
| <td> |
| <ul> |
| <li>tool_kitting</li> |
| </ul> |
| </td> |
| <td> |
| <ul> |
| <li>waste_sorting</li> |
| </ul> |
| </td> |
| </tr> |
| </tbody> |
| </table> |
| |
| ## Overview |
| Sample raw capture data from teleoperated bimanual demonstrations. Contact us at <info@amplibotics.ai> to request the full datasets, or to inquire about custom data solutions. |
| - **Created by:** Amplibotics |
| - **Recorded at:** Amplibotics Robot Farm |
|
|
| <img src="https://cdn-uploads.huggingface.co/production/uploads/69af58a19001cadedab0bbab/80mwd47iCcfjVJV_mgBCl.png" width="150"> |
|
|
| Our data collection technology works anywhere in the world, scaling up datasets with our network of remote robot pilots. Want data recorded from a particular location, on specific hardware, or doing custom tasks? Contact us to eliminate operational overhead and lead times for your AI projects. |
| |
| Are you working on deploying robotics AI to real-world jobsites? Our real-time supervision & intervention service provides reliability guarantees — while mining high-value corrective datasets from operator actions. Amplibotics turns work environments into self-sustaining data flywheels, unlocking practical and cost-effective automation on day 1. Learn more at <https://www.amplibotics.ai>. |
|
|
| |
| ### Environments |
| - tabletop work surfaces (with task-specific materials & objects) |
| |
| ### Embodiments |
| - bimanual UFactory Lite6 arms configured with Amplibotics Parallel Jaw Grippers |
|
|
| ### Camera Configurations |
| - overhead stereo pair (2x RGB) + 2x wrist (one per arm) | 1920x1200 at 30 FPS | hardware-synchronized global shutters |
|
|
| ### Control Methods |
| - GELLO leader arms |
| - flight stick (Thrustmaster) game controllers |
|
|
| ### Operators |
| - Amplibotics pilots (trained for each task) |
|
|
| ### Directory Structure |
| ``` |
| . |
| ├── episodes/ |
| │ ├── pants_folding |
| │ │ └── <episode MCAPs> |
| │ ├── parts_unbagging |
| │ │ └── <episode MCAPs> |
| │ ├── tool_kitting |
| │ │ └── <episode MCAPs> |
| │ └── waste_disposal |
| │ └── <episode MCAPs> |
| ├── foxglove_layouts/ |
| │ ├── TaskLayout.json |
| │ └── DataLayout.json |
| └── README.md |
| ``` |
| <!-- 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. --> |
|
|
| ## File Type |
| MCAP |
|
|
| ## Metadata Records |
|
|
| | Record | Description | Count | Schema | |
| |------------------|---------------------------------------------------------------------------|------------|---------------------------------------------| |
| | `session` | Session-level metadata including equipment configuration and identifiers. | Exactly 1 | [session.md](#session-metadata-record) | |
| | `episode_<uuid>` | Episode-level metadata for each recorded task attempt. | At least 1 | [episode.md](#episode_uuid-metadata-record) | |
|
|
| ## Topics |
|
|
| | Topic Pattern | Description | Schema | Encoding | Count | |
| |-------------------------------|------------------------------------------------------------|---------------------------------------------------------------|------------|------------| |
| | `/robot_<name>/state` | Robot arm joint states end-effector pose. | [RobotState](#amplibotics-capture-RobotState) | protobuf | 1-2 | |
| | `/robot_<name>/command` | Commanded end-effector pose and velocity targets. | [RobotCommand](#amplibotics-bus-RobotCommand) | protobuf | 1-2 | |
| | `/robot_<name>/dh_parameters` | Denavit-Hartenberg kinematic parameters for the robot arm. | [RobotDHParameters](#amplibotics-capture-RobotDHParameters) | protobuf | 1-2 | |
| | `/tool_<name>/state` | Gripper state. | [ToolState](#amplibotics-capture-ToolState) | protobuf | 1-2 | |
| | `/tool_<name>/command` | Commanded gripper position. | [ToolCommand](#amplibotics-capture-ToolCommand) | protobuf | 1-2 | |
| | `/tool_<name>/info` | Tool info. | [GripperInfo](#amplibotics-capture-GripperInfo) | protobuf | At least 1 | |
| | `/camera_<name>/image` | Compressed video frames from cameras. | [CompressedVideo](#foxglove-CompressedVideo) | protobuf | At least 1 | |
| | `/camera_<name>/info` | Camera intrinsic and extrinsic calibration parameters. | [CameraCalibration](#foxglove-CameraCalibration) | protobuf | At least 1 | |
| | `/camera_<name>/extrinsics` | Camera extrinsic calibration parameters. | [HandEyeCalibration](#amplibotics-capture-HandEyeCalibration) | protobuf | Any number | |
| | `/tf_static` | Static coordinate frame transforms (e.g., camera mounts). | [FrameTransforms](#foxglove-FrameTransforms) | protobuf | Exactly 1 | |
| | `/tf` | Non-static instantaneous TF trees. | [FrameTransforms](#foxglove-FrameTransforms) | protobuf | Exactly 1 | |
| | `/episode/events` | Episode lifecycle events (start, end, subtasks). | [EpisodeEvent](#amplibotics-capture-EpisodeEvent) | protobuf | Exactly 1 | |
|
|
| --- |
|
|
| ## `session` Metadata Record |
|
|
| Session-level metadata for `mcap.bus.*` bimanual teleoperation recordings. |
|
|
| ### Fields |
|
|
| | 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. | |
| | `source-contract` | string | No | Contract ID of the source file this was transformed from. | |
| | `episode-count` | integer | No | Number of episode metadata records. | |
| | `axis-labels` | string | No | Axis labels. | |
| | `button-labels` | string | No | Button labels. | |
| | `job-id` | string | No | Job id. | |
|
|
| ## `episode_<uuid>` Metadata Record |
| |
| Episode-level metadata for `mcap.bus.*` bimanual teleoperation recordings. |
| |
| ### Fields |
| |
| | 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. | |
|
|
| --- |
|
|
| ## Message Definitions |
|
|
| <a name="amplibotics_capture_capture-proto" id="amplibotics_capture_capture-proto"></a> |
|
|
| ### `amplibotics/capture/capture.proto` |
| <a name="amplibotics-capture-Episode" id="amplibotics-capture-Episode"></a> |
|
|
| #### Episode |
| A task completion attempt |
|
|
|
|
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | id | string | | UUID: "123e4567-e89b-12d3-a456-426614174000" | |
| | instruction | string | | Natural language task instruction | |
|
|
|
|
|
|
|
|
|
|
|
|
| <a name="amplibotics-capture-EpisodeEvent" id="amplibotics-capture-EpisodeEvent"></a> |
|
|
| #### EpisodeEvent |
| Used for both episode lifecycle events and subtask events: |
|
|
|
|
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | 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 | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-GripperCommand" id="amplibotics-capture-GripperCommand"></a> |
| |
| #### 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. | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-GripperInfo" id="amplibotics-capture-GripperInfo"></a> |
| |
| #### 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) | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-GripperState" id="amplibotics-capture-GripperState"></a> |
| |
| #### GripperState |
| State of parallel-jaw gripper |
| |
| |
| | Field | Type | Label | 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 | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-HandEyeCalibration" id="amplibotics-capture-HandEyeCalibration"></a> |
| |
| #### HandEyeCalibration |
| |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | calibrations | [HandEyeCalibrationEntry](#amplibotics-capture-HandEyeCalibrationEntry) | repeated | One entry per robot this camera is calibrated to | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-HandEyeCalibrationEntry" id="amplibotics-capture-HandEyeCalibrationEntry"></a> |
| |
| #### HandEyeCalibrationEntry |
| |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | robot_position | string | | Robot position name (e.g., "left") | |
| | calibration_type | [HandEyeCalibrationType](#amplibotics-capture-HandEyeCalibrationType) | | | |
| | transform | [Pose](#amplibotics-capture-Pose) | | Camera-to-reference transform from cv2.calibrateHandEye(): eye_in_hand: camera origin expressed in end-effector (gripper) frame eye_to_hand: camera origin expressed in robot base frame Translation in mm, orientation as unit quaternion. | |
| | reprojection_error | float | | AX=XB translational consistency error (mm) | |
| | calibrated_at | google.protobuf.Timestamp | | When calibration was performed | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-JointDHParam" id="amplibotics-capture-JointDHParam"></a> |
| |
| #### JointDHParam |
| DH parameters for a single joint |
| |
| |
| | Field | Type | Label | 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 | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-Pose" id="amplibotics-capture-Pose"></a> |
| |
| #### Pose |
| Pose given as xyz position and xyzw quaternion |
| |
| |
| | Field | Type | Label | 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 | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-RawInput" id="amplibotics-capture-RawInput"></a> |
| |
| #### RawInput |
| Raw controller input signals |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | axes | float | repeated | Raw axis values | |
| | buttons | bool | repeated | Raw button states | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-RobotDHParameters" id="amplibotics-capture-RobotDHParameters"></a> |
| |
| #### RobotDHParameters |
| DH parameters for a robot |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | 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) | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-RobotState" id="amplibotics-capture-RobotState"></a> |
| |
| #### 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](#amplibotics-capture-Pose) | | end effector pose | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-Subtask" id="amplibotics-capture-Subtask"></a> |
| |
| #### Subtask |
| A subtask representing a shorter-horizon segment of the overall task |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | instruction | string | | Natural language subtask instruction | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-TaskResult" id="amplibotics-capture-TaskResult"></a> |
| |
| #### 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' | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-ToolCommand" id="amplibotics-capture-ToolCommand"></a> |
| |
| #### ToolCommand |
| Command sent to robot's tool/end-effector |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | google.protobuf.Timestamp | | protobuf Timestamp (int seconds & nanos) | |
| | gripper | [GripperCommand](#amplibotics-capture-GripperCommand) | | | |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-ToolState" id="amplibotics-capture-ToolState"></a> |
| |
| #### ToolState |
| State of robot's tool/end-effector |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | google.protobuf.Timestamp | | protobuf Timestamp (int seconds & nanos) | |
| | gripper | [GripperState](#amplibotics-capture-GripperState) | | | |
| |
| |
| |
| |
| |
| |
| |
| |
| <a name="amplibotics-capture-EpisodeEvent-EventType" id="amplibotics-capture-EpisodeEvent-EventType"></a> |
| |
| #### 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 | |
| |
| |
| |
| <a name="amplibotics-capture-HandEyeCalibrationType" id="amplibotics-capture-HandEyeCalibrationType"></a> |
| |
| #### HandEyeCalibrationType |
| |
| |
| | Name | Number | Description | |
| | ---- | ------ | ----------- | |
| | HAND_EYE_CALIBRATION_TYPE_UNSPECIFIED | 0 | | |
| | HAND_EYE_CALIBRATION_TYPE_EYE_IN_HAND | 1 | Camera mounted on robot wrist (camera-to-end-effector) | |
| | HAND_EYE_CALIBRATION_TYPE_EYE_TO_HAND | 2 | Camera fixed in world (camera-to-robot-base) | |
| |
| |
| |
| |
| |
| <a name="amplibotics_bus_bus-proto" id="amplibotics_bus_bus-proto"></a> |
| |
| ### `amplibotics/bus/bus.proto` |
| <a name="amplibotics-bus-RobotCommand" id="amplibotics-bus-RobotCommand"></a> |
| |
| #### RobotCommand |
| Extends capture RobotCommand with target_joint_velocities and |
| target_joint_accelerations. |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | 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 | repeated | Target joint angles from IK (radians) | |
| | raw_input | [amplibotics.capture.RawInput](#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 | |
| |
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| |
| |
| |
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| |
| |
| |
| |
| |
| |
| |
| <a name="foxglove_foxglove-proto" id="foxglove_foxglove-proto"></a> |
| |
| ### `foxglove/foxglove.proto` |
| <a name="foxglove-CameraCalibration" id="foxglove-CameraCalibration"></a> |
| |
| #### 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 | |
| |
| |
| |
| |
| |
| |
| <a name="foxglove-CompressedVideo" id="foxglove-CompressedVideo"></a> |
| |
| #### CompressedVideo |
| A single frame of a compressed video bitstream |
| |
| |
| | Field | Type | Label | 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 | |
| |
| |
| |
| |
| |
| |
| <a name="foxglove-FrameTransform" id="foxglove-FrameTransform"></a> |
| |
| #### FrameTransform |
| A transform between two reference frames in 3D space |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | timestamp | google.protobuf.Timestamp | | protobuf Timestamp (int seconds & nanos) | |
| | parent_frame_id | string | | | |
| | child_frame_id | string | | | |
| | translation | [Vector3](#foxglove-Vector3) | | meters | |
| | rotation | [Quaternion](#foxglove-Quaternion) | | | |
| |
| |
| |
| |
| |
| |
| <a name="foxglove-FrameTransforms" id="foxglove-FrameTransforms"></a> |
| |
| #### 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](#foxglove-FrameTransform) | repeated | | |
| |
| |
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| <a name="foxglove-Quaternion" id="foxglove-Quaternion"></a> |
| |
| #### Quaternion |
| A quaternion representing a rotation in 3D space |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | x | double | | | |
| | y | double | | | |
| | z | double | | | |
| | w | double | | | |
| |
| |
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| |
| |
| <a name="foxglove-Vector3" id="foxglove-Vector3"></a> |
| |
| #### Vector3 |
| A vector in 3D space that represents a direction only |
| |
| |
| | Field | Type | Label | Description | |
| | ----- | ---- | ----- | ----------- | |
| | x | double | | | |
| | y | double | | | |
| | z | double | | | |
| |
| --- |
| |
