Datasets:
Add sample episodes: wipes, socks, eggs
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +9 -0
- README.md +91 -0
- eggs/d435_imu/imu-000.parquet +3 -0
- eggs/data/chunk-000/file-000.parquet +3 -0
- eggs/depth/d405_left_depth/chunk-000/file-000.mov +3 -0
- eggs/depth/d405_right_depth/chunk-000/file-000.mov +3 -0
- eggs/depth/d435_depth/chunk-000/file-000.mov +3 -0
- eggs/lidar/imu-000.parquet +3 -0
- eggs/lidar/imu-001.parquet +3 -0
- eggs/lidar/imu-002.parquet +3 -0
- eggs/lidar/imu-003.parquet +3 -0
- eggs/lidar/packets-000.parquet +3 -0
- eggs/lidar/packets-001.parquet +3 -0
- eggs/lidar/packets-002.parquet +3 -0
- eggs/lidar/packets-003.parquet +3 -0
- eggs/lidar/points-000.parquet +3 -0
- eggs/lidar/points-001.parquet +3 -0
- eggs/lidar/points-002.parquet +3 -0
- eggs/lidar/points-003.parquet +3 -0
- eggs/meta/calibration.json +1220 -0
- eggs/meta/d435_imu.json +94 -0
- eggs/meta/depth.json +433 -0
- eggs/meta/episodes/chunk-000/file-000.parquet +3 -0
- eggs/meta/info.json +2029 -0
- eggs/meta/lidar.json +105 -0
- eggs/meta/pico.json +408 -0
- eggs/meta/stats.json +0 -0
- eggs/meta/tasks.parquet +3 -0
- eggs/pico/packets-000.parquet +3 -0
- eggs/videos/observation.images.d405_left/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d405_left_ir1/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d405_left_ir2/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d405_right/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d405_right_ir1/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d405_right_ir2/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d435/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d435_ir1/chunk-000/file-000.mp4 +3 -0
- eggs/videos/observation.images.d435_ir2/chunk-000/file-000.mp4 +3 -0
- previews/socks.mp4 +3 -0
- previews/wipes.mp4 +3 -0
- socks/d435_imu/imu-000.parquet +3 -0
- socks/data/chunk-000/file-000.parquet +3 -0
- socks/depth/d405_left_depth/chunk-000/file-000.mov +3 -0
- socks/depth/d405_right_depth/chunk-000/file-000.mov +3 -0
- socks/depth/d435_depth/chunk-000/file-000.mov +3 -0
- socks/lidar/imu-000.parquet +3 -0
- socks/lidar/imu-001.parquet +3 -0
- socks/lidar/packets-000.parquet +3 -0
- socks/lidar/packets-001.parquet +3 -0
- socks/lidar/points-000.parquet +3 -0
.gitattributes
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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eggs/depth/d405_left_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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eggs/depth/d405_right_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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eggs/depth/d435_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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socks/depth/d405_left_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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socks/depth/d405_right_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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socks/depth/d435_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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wipes/depth/d405_left_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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wipes/depth/d405_right_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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wipes/depth/d435_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text
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README.md
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---
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pretty_name: Rhoyn Robotics G1 Teleoperation Sample
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task_categories:
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- robotics
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tags:
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- LeRobot
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- humanoid
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- unitree-g1
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- teleoperation
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- bimanual
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- depth
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- lidar
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configs:
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- config_name: wipes
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data_files: wipes/data/*/*.parquet
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- config_name: socks
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data_files: socks/data/*/*.parquet
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- config_name: eggs
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data_files: eggs/data/*/*.parquet
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---
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# Rhoyn Robotics G1 Teleoperation Sample
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A sample of whole-body teleoperation data collected on a Unitree G1 humanoid (29 DoF, Dex1 grippers), recorded at 30 Hz. Each folder is a self-contained [LeRobot v3.0](https://github.com/huggingface/lerobot) dataset holding one episode, plus extra sensor streams (depth, lidar, IMU, raw teleop packets) stored alongside it.
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| Folder | Task | Duration | Frames | Preview |
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|---|---|---|---|---|
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| `wipes/` | Pull a wet wipe from the pack and wipe the table | 97 s | 2,921 | [`previews/wipes.mp4`](previews/wipes.mp4) |
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| `socks/` | Pick up the two socks and pair them together | 92 s | 2,747 | [`previews/socks.mp4`](previews/socks.mp4) |
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| `eggs/` | Crack eggs into the pan and scramble them | 232 s | 6,965 | — |
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The preview videos tile every camera stream, the IR and depth views, and the lidar point cloud into a single view.
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## Loading
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Each task folder is its own LeRobot dataset, so download the repo and point LeRobot at one folder:
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```python
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from huggingface_hub import snapshot_download
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from lerobot.datasets.lerobot_dataset import LeRobotDataset
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path = snapshot_download("rhoyn-robotics/data-sample", repo_type="dataset")
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ds = LeRobotDataset("rhoyn-robotics/data-sample", root=f"{path}/wipes")
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```
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The per-frame data can also be read directly with pandas or pyarrow from `<task>/data/chunk-000/*.parquet`.
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## Contents of each episode folder
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```
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<task>/
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├── meta/ info.json, stats.json, tasks.parquet, episodes/, plus sidecar metadata
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│ (calibration.json, depth.json, lidar.json, d435_imu.json, pico.json)
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├── data/ per-frame parquet (state, actions, IMU, torques, teleop, sync info)
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├── videos/ 9 AV1 video streams, one per camera / IR imager
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├── depth/ lossless 16-bit depth (FFV1 .mov) for 3 cameras, at 15 fps
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├── lidar/ Livox MID-360 points, raw packets, and lidar IMU
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├── d435_imu/ head camera IMU
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└── pico/ raw Pico VR teleop controller packets
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```
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### Cameras (`videos/`)
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| Key | Resolution | Description |
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|---|---|---|
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| `observation.images.d435` | 848×480 | Head RealSense D435, color |
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| `observation.images.d435_ir1`, `_ir2` | 848×480 | Head D435, stereo IR |
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| `observation.images.d405_left`, `d405_right` | 424×240 | Wrist RealSense D405, color |
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| `observation.images.d405_{left,right}_ir1`, `_ir2` | 424×240 | Wrist D405, stereo IR |
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### Per-frame data (`data/`)
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| Key | Dim | Description |
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|---|---|---|
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| `observation.state` | 60 | 29 joint positions, 29 joint velocities, 2 gripper apertures |
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| `observation.effort` | 31 | Measured joint torques |
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| `observation.motor_temp` | 29 | Motor temperatures |
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| `observation.imu.pelvis`, `observation.imu.chest` | 10 each | Quaternion, gyro, accelerometer |
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| `action` | 31 | 29 joint position targets, 2 gripper aperture targets |
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| `action.kp`, `action.kd`, `action.tau_ff`, `action.dq_target` | 29 each | Low-level PD gains, feedforward torque, velocity targets |
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| `action.tau_requested`, `action.torque_cap`, `action.tau_commanded` | 31 each | Torque pipeline: requested, capped, commanded |
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| `observation.torque_budget`, `action.torque_allowed`, `action.torque_limited` | 16 each | Arm torque-safety limiter state |
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| `action.teleop` | 26 | Operator VR wrist poses, locomotion commands (vx, vy, yaw rate, height), triggers, grips, sticks |
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| `action.teleop.buttons` | 8 | VR controller buttons |
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| `observation.teleop_active` | 1 | Whether teleop was engaged |
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| `observation.frame_counter`, `sensor_ts_us`, `frame_offset_us` | 12 each | Per-stream camera sync info |
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| `observation.row_time_us`, `observation.control_offset_us` | 1 each | Row and control-loop timing |
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Full joint names for every vector are in `meta/info.json`.
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**Note on NaNs:** `observation.frame_counter`, `observation.sensor_ts_us` and `observation.frame_offset_us` contain NaN in their three depth columns (`d435_depth`, `d405_left_depth`, `d405_right_depth`). This is expected: depth is recorded at 15 fps in `depth/`, and `meta/depth.json` maps each depth frame to its data row.
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eggs/d435_imu/imu-000.parquet
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eggs/data/chunk-000/file-000.parquet
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oid sha256:4053ebe98e79050e90fea935a8245240fbed3ea5f84aebbe050727b46dc83179
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| 3 |
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size 32168235
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eggs/meta/calibration.json
ADDED
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@@ -0,0 +1,1220 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"d405_left_depth": {
|
| 3 |
+
"decimation": 1.0,
|
| 4 |
+
"depth_scale": 9.999999747378752e-05,
|
| 5 |
+
"depth_visual_preset": "High Density",
|
| 6 |
+
"emitter_enabled": null,
|
| 7 |
+
"firmware": "5.15.1.55",
|
| 8 |
+
"format": "Z16",
|
| 9 |
+
"frames_rotated_upright": false,
|
| 10 |
+
"intrinsics": {
|
| 11 |
+
"coeffs": [
|
| 12 |
+
0.0,
|
| 13 |
+
0.0,
|
| 14 |
+
0.0,
|
| 15 |
+
0.0,
|
| 16 |
+
0.0
|
| 17 |
+
],
|
| 18 |
+
"fx": 214.20974731445313,
|
| 19 |
+
"fy": 214.20974731445313,
|
| 20 |
+
"height": 240,
|
| 21 |
+
"model": "Brown Conrady",
|
| 22 |
+
"ppx": 214.87191772460938,
|
| 23 |
+
"ppy": 120.27647399902344,
|
| 24 |
+
"width": 424
|
| 25 |
+
},
|
| 26 |
+
"ir1_to_robot": {
|
| 27 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link",
|
| 28 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 29 |
+
"from": "infrared_1",
|
| 30 |
+
"rotation": [
|
| 31 |
+
[
|
| 32 |
+
0.0,
|
| 33 |
+
-0.5000042102057056,
|
| 34 |
+
0.8660229730073958
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
-1.0,
|
| 38 |
+
-0.0,
|
| 39 |
+
-1.468247496825271e-17
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
-1.468247496825271e-17,
|
| 43 |
+
-0.8660229730073958,
|
| 44 |
+
-0.5000042102057056
|
| 45 |
+
]
|
| 46 |
+
],
|
| 47 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 48 |
+
"source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
|
| 49 |
+
"to": "left_dex1_base_link",
|
| 50 |
+
"translation": [
|
| 51 |
+
0.05839,
|
| 52 |
+
0.0090169,
|
| 53 |
+
0.05774
|
| 54 |
+
],
|
| 55 |
+
"translation_units": "meters"
|
| 56 |
+
},
|
| 57 |
+
"ir1_to_stream": {
|
| 58 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
| 59 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 60 |
+
"from": "infrared_1",
|
| 61 |
+
"rotation": [
|
| 62 |
+
[
|
| 63 |
+
1.0,
|
| 64 |
+
0.0,
|
| 65 |
+
0.0
|
| 66 |
+
],
|
| 67 |
+
[
|
| 68 |
+
0.0,
|
| 69 |
+
1.0,
|
| 70 |
+
0.0
|
| 71 |
+
],
|
| 72 |
+
[
|
| 73 |
+
0.0,
|
| 74 |
+
0.0,
|
| 75 |
+
1.0
|
| 76 |
+
]
|
| 77 |
+
],
|
| 78 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 79 |
+
"to": "this stream",
|
| 80 |
+
"translation": [
|
| 81 |
+
0.0,
|
| 82 |
+
0.0,
|
| 83 |
+
0.0
|
| 84 |
+
],
|
| 85 |
+
"translation_units": "meters"
|
| 86 |
+
},
|
| 87 |
+
"model": "Intel RealSense D405",
|
| 88 |
+
"mount_rotation_deg": 0,
|
| 89 |
+
"recorded_fps": 15,
|
| 90 |
+
"serial": "260322273676",
|
| 91 |
+
"stereo_module_fps": 30,
|
| 92 |
+
"stream": "depth",
|
| 93 |
+
"timestamp_domain": "global_time_us",
|
| 94 |
+
"usb": "3.2"
|
| 95 |
+
},
|
| 96 |
+
"d405_right_depth": {
|
| 97 |
+
"decimation": 1.0,
|
| 98 |
+
"depth_scale": 9.999999747378752e-05,
|
| 99 |
+
"depth_visual_preset": "High Density",
|
| 100 |
+
"emitter_enabled": null,
|
| 101 |
+
"firmware": "5.15.1.55",
|
| 102 |
+
"format": "Z16",
|
| 103 |
+
"frames_rotated_upright": true,
|
| 104 |
+
"intrinsics": {
|
| 105 |
+
"coeffs": [
|
| 106 |
+
0.0,
|
| 107 |
+
0.0,
|
| 108 |
+
-0.0,
|
| 109 |
+
-0.0,
|
| 110 |
+
0.0
|
| 111 |
+
],
|
| 112 |
+
"fx": 215.798828125,
|
| 113 |
+
"fy": 215.798828125,
|
| 114 |
+
"height": 240,
|
| 115 |
+
"model": "Brown Conrady",
|
| 116 |
+
"ppx": 210.02273559570313,
|
| 117 |
+
"ppy": 119.7447738647461,
|
| 118 |
+
"width": 424
|
| 119 |
+
},
|
| 120 |
+
"ir1_to_robot": {
|
| 121 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link",
|
| 122 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 123 |
+
"from": "infrared_1",
|
| 124 |
+
"rotation": [
|
| 125 |
+
[
|
| 126 |
+
-0.0,
|
| 127 |
+
-0.5000042102057056,
|
| 128 |
+
0.8660229730073958
|
| 129 |
+
],
|
| 130 |
+
[
|
| 131 |
+
-1.0,
|
| 132 |
+
0.0,
|
| 133 |
+
1.468247496825271e-17
|
| 134 |
+
],
|
| 135 |
+
[
|
| 136 |
+
1.468247496825271e-17,
|
| 137 |
+
-0.8660229730073958,
|
| 138 |
+
-0.5000042102057056
|
| 139 |
+
]
|
| 140 |
+
],
|
| 141 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 142 |
+
"source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
|
| 143 |
+
"to": "right_dex1_base_link",
|
| 144 |
+
"translation": [
|
| 145 |
+
0.05839,
|
| 146 |
+
-0.0089995,
|
| 147 |
+
0.05774
|
| 148 |
+
],
|
| 149 |
+
"translation_units": "meters"
|
| 150 |
+
},
|
| 151 |
+
"ir1_to_stream": {
|
| 152 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
| 153 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 154 |
+
"from": "infrared_1",
|
| 155 |
+
"rotation": [
|
| 156 |
+
[
|
| 157 |
+
1.0,
|
| 158 |
+
0.0,
|
| 159 |
+
0.0
|
| 160 |
+
],
|
| 161 |
+
[
|
| 162 |
+
0.0,
|
| 163 |
+
1.0,
|
| 164 |
+
0.0
|
| 165 |
+
],
|
| 166 |
+
[
|
| 167 |
+
0.0,
|
| 168 |
+
0.0,
|
| 169 |
+
1.0
|
| 170 |
+
]
|
| 171 |
+
],
|
| 172 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 173 |
+
"to": "this stream",
|
| 174 |
+
"translation": [
|
| 175 |
+
0.0,
|
| 176 |
+
0.0,
|
| 177 |
+
0.0
|
| 178 |
+
],
|
| 179 |
+
"translation_units": "meters"
|
| 180 |
+
},
|
| 181 |
+
"model": "Intel RealSense D405",
|
| 182 |
+
"mount_rotation_deg": 180,
|
| 183 |
+
"recorded_fps": 15,
|
| 184 |
+
"serial": "260322277869",
|
| 185 |
+
"stereo_module_fps": 30,
|
| 186 |
+
"stream": "depth",
|
| 187 |
+
"timestamp_domain": "global_time_us",
|
| 188 |
+
"usb": "3.2"
|
| 189 |
+
},
|
| 190 |
+
"d435_depth": {
|
| 191 |
+
"decimation": 2.0,
|
| 192 |
+
"depth_scale": 0.0010000000474974513,
|
| 193 |
+
"depth_visual_preset": "High Density",
|
| 194 |
+
"emitter_enabled": true,
|
| 195 |
+
"firmware": "5.15.1.55",
|
| 196 |
+
"format": "Z16",
|
| 197 |
+
"frames_rotated_upright": false,
|
| 198 |
+
"intrinsics": {
|
| 199 |
+
"coeffs": [
|
| 200 |
+
0.0,
|
| 201 |
+
0.0,
|
| 202 |
+
0.0,
|
| 203 |
+
0.0,
|
| 204 |
+
0.0
|
| 205 |
+
],
|
| 206 |
+
"fx": 213.7545166015625,
|
| 207 |
+
"fy": 213.7545166015625,
|
| 208 |
+
"height": 240,
|
| 209 |
+
"model": "Brown Conrady",
|
| 210 |
+
"ppx": 211.14247131347656,
|
| 211 |
+
"ppy": 118.16234588623047,
|
| 212 |
+
"width": 424
|
| 213 |
+
},
|
| 214 |
+
"ir1_to_robot": {
|
| 215 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link",
|
| 216 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 217 |
+
"from": "infrared_1",
|
| 218 |
+
"rotation": [
|
| 219 |
+
[
|
| 220 |
+
-2.220446049250313e-16,
|
| 221 |
+
-0.7384553316173743,
|
| 222 |
+
0.6743023974493004
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
-1.0000000000000002,
|
| 226 |
+
2.220446049250313e-16,
|
| 227 |
+
-1.0303904848204921e-17
|
| 228 |
+
],
|
| 229 |
+
[
|
| 230 |
+
-1.0303904848204921e-17,
|
| 231 |
+
-0.6743023974493004,
|
| 232 |
+
-0.7384553316173741
|
| 233 |
+
]
|
| 234 |
+
],
|
| 235 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 236 |
+
"source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline",
|
| 237 |
+
"to": "torso_link",
|
| 238 |
+
"translation": [
|
| 239 |
+
0.0576235,
|
| 240 |
+
0.042573,
|
| 241 |
+
0.41987
|
| 242 |
+
],
|
| 243 |
+
"translation_units": "meters"
|
| 244 |
+
},
|
| 245 |
+
"ir1_to_stream": {
|
| 246 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
| 247 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 248 |
+
"from": "infrared_1",
|
| 249 |
+
"rotation": [
|
| 250 |
+
[
|
| 251 |
+
1.0,
|
| 252 |
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0.0,
|
| 253 |
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0.0
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| 254 |
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],
|
| 255 |
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[
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| 256 |
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0.0,
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| 257 |
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1.0,
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| 258 |
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0.0
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| 259 |
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],
|
| 260 |
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[
|
| 261 |
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0.0,
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| 262 |
+
0.0,
|
| 263 |
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1.0
|
| 264 |
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]
|
| 265 |
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],
|
| 266 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 267 |
+
"to": "this stream",
|
| 268 |
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"translation": [
|
| 269 |
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0.0,
|
| 270 |
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0.0,
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| 271 |
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0.0
|
| 272 |
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],
|
| 273 |
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"translation_units": "meters"
|
| 274 |
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},
|
| 275 |
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"model": "Intel RealSense D435I",
|
| 276 |
+
"mount_rotation_deg": 0,
|
| 277 |
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|
| 278 |
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"serial": "344422072211",
|
| 279 |
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"stereo_module_fps": 90,
|
| 280 |
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"stream": "depth",
|
| 281 |
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"timestamp_domain": "global_time_us",
|
| 282 |
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"usb": "3.2"
|
| 283 |
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},
|
| 284 |
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"d435_imu": {
|
| 285 |
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"accel_hz": 100,
|
| 286 |
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"accel_to_color": {
|
| 287 |
+
"convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame",
|
| 288 |
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"frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 289 |
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"from": "accel",
|
| 290 |
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"rotation": [
|
| 291 |
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[
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],
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[
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[
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]
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| 306 |
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],
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 308 |
+
"source": "librealsense get_extrinsics_to: the IMU-to-depth part is Intel's nominal design value, the depth-to-color part the per-unit factory calibration",
|
| 309 |
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"to": "color",
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"translation_units": "meters"
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},
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"firmware": "5.15.1.55",
|
| 318 |
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"gyro_hz": 200,
|
| 319 |
+
"gyro_to_color": {
|
| 320 |
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"convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame",
|
| 321 |
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"frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 322 |
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"from": "gyro",
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| 323 |
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"rotation": [
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| 324 |
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[
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| 325 |
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],
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[
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| 333 |
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],
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| 334 |
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[
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| 336 |
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0.0027087086346000433,
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| 337 |
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0.999975323677063
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| 338 |
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]
|
| 339 |
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],
|
| 340 |
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 341 |
+
"source": "librealsense get_extrinsics_to: the IMU-to-depth part is Intel's nominal design value, the depth-to-color part the per-unit factory calibration",
|
| 342 |
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"to": "color",
|
| 343 |
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"translation": [
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| 346 |
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| 347 |
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],
|
| 348 |
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| 349 |
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},
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| 350 |
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"imu": "BMI085",
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| 351 |
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"model": "Intel RealSense D435I",
|
| 352 |
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"serial": "344422072211"
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| 353 |
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},
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| 354 |
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"lidar": {
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| 355 |
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"imu_enabled": true,
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| 356 |
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"ip": "192.168.123.120",
|
| 357 |
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"lidar_to_robot": {
|
| 358 |
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"convention": "p_to = rotation * p_from + translation, a point in the lidar's point cloud frame (x_mm, y_mm, z_mm / 1000) mapped into torso_link",
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| 359 |
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"from": "lidar",
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[
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| 375 |
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]
|
| 376 |
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],
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| 377 |
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 378 |
+
"source": "robot model, not measured: Unitree g1_29dof.urdf mid360_joint, translation and pitch, followed by a 180 deg flip about x since the MID-360 is mounted upside down and its point cloud z axis points down (its IMU reads -1 g on z)",
|
| 379 |
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"to": "torso_link",
|
| 380 |
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"translation": [
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| 381 |
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|
| 382 |
+
3e-05,
|
| 383 |
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|
| 384 |
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],
|
| 385 |
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"translation_units": "meters"
|
| 386 |
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},
|
| 387 |
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"model": "Livox MID-360",
|
| 388 |
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"point_data_type": "cartesian high precision, 1 mm",
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| 389 |
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"serial": "47MCNBD0036132",
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| 390 |
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"work_mode": "normal"
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| 391 |
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},
|
| 392 |
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| 393 |
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"depth_visual_preset": "High Density",
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| 394 |
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"emitter_enabled": null,
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| 395 |
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| 396 |
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"format": "YUYV",
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| 397 |
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| 414 |
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link",
|
| 416 |
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"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 417 |
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"from": "infrared_1",
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| 418 |
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"rotation": [
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[
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]
|
| 434 |
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],
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| 435 |
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"rotation_layout": "row-major 3x3, rotation[row][col]",
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| 436 |
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"source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
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"to": "left_dex1_base_link",
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"translation": [
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],
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"translation_units": "meters"
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| 444 |
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},
|
| 445 |
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"ir1_to_stream": {
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| 446 |
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
| 447 |
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"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 448 |
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"from": "infrared_1",
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| 449 |
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"rotation": [
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[
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[
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],
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"rotation_layout": "row-major 3x3, rotation[row][col]",
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"to": "this stream",
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"translation": [
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9.99999883788405e-06,
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9.999999747378752e-06,
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1.0000000656873453e-05
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],
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"translation_units": "meters"
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| 474 |
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},
|
| 475 |
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"model": "Intel RealSense D405",
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"mount_rotation_deg": 0,
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"recorded_fps": 30,
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"serial": "260322273676",
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"stereo_module_fps": 30,
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| 480 |
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"stream": "Color",
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"timestamp_domain": "global_time_us",
|
| 482 |
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"usb": "3.2"
|
| 483 |
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},
|
| 484 |
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"observation.images.d405_left_ir1": {
|
| 485 |
+
"depth_visual_preset": "High Density",
|
| 486 |
+
"emitter_enabled": null,
|
| 487 |
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"firmware": "5.15.1.55",
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"format": "Y8",
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"frames_rotated_upright": false,
|
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"fy": 214.20974731445313,
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"height": 240,
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"ppy": 120.27647399902344,
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"width": 424
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},
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"ir1_to_robot": {
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link",
|
| 508 |
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"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 509 |
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"from": "infrared_1",
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"rotation": [
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[
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]
|
| 526 |
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],
|
| 527 |
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 528 |
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"source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
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"to": "left_dex1_base_link",
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"translation": [
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0.05839,
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"translation_units": "meters"
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},
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"ir1_to_stream": {
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
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| 539 |
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"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
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"from": "infrared_1",
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"rotation": [
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[
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[
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]
|
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],
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"rotation_layout": "row-major 3x3, rotation[row][col]",
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| 559 |
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"to": "this stream",
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"translation": [
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0.0,
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0.0,
|
| 563 |
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0.0
|
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],
|
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"translation_units": "meters"
|
| 566 |
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},
|
| 567 |
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"model": "Intel RealSense D405",
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"mount_rotation_deg": 0,
|
| 569 |
+
"recorded_fps": 30,
|
| 570 |
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"serial": "260322273676",
|
| 571 |
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"stereo_module_fps": 30,
|
| 572 |
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"stream": "Infrared 1",
|
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"timestamp_domain": "global_time_us",
|
| 574 |
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"usb": "3.2"
|
| 575 |
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},
|
| 576 |
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"observation.images.d405_left_ir2": {
|
| 577 |
+
"depth_visual_preset": "High Density",
|
| 578 |
+
"emitter_enabled": null,
|
| 579 |
+
"firmware": "5.15.1.55",
|
| 580 |
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"format": "Y8",
|
| 581 |
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"frames_rotated_upright": false,
|
| 582 |
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"intrinsics": {
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0.0,
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|
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|
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|
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|
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"width": 424
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},
|
| 598 |
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"ir1_to_robot": {
|
| 599 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link",
|
| 600 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 601 |
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"from": "infrared_1",
|
| 602 |
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"rotation": [
|
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[
|
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|
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]
|
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],
|
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 620 |
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"source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
|
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"to": "left_dex1_base_link",
|
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|
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],
|
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"translation_units": "meters"
|
| 628 |
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},
|
| 629 |
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"ir1_to_stream": {
|
| 630 |
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
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|
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|
| 988 |
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"source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline",
|
| 989 |
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|
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|
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|
| 999 |
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|
| 1000 |
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|
| 1001 |
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|
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|
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|
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|
| 1038 |
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|
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|
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|
| 1059 |
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link",
|
| 1060 |
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"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
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|
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|
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|
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 1080 |
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"source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline",
|
| 1081 |
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|
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"translation_units": "meters"
|
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},
|
| 1089 |
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"ir1_to_stream": {
|
| 1090 |
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
| 1091 |
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"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 1092 |
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"from": "infrared_1",
|
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"rotation": [
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|
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 1111 |
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"to": "this stream",
|
| 1112 |
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"translation": [
|
| 1113 |
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|
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|
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|
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|
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"translation_units": "meters"
|
| 1118 |
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},
|
| 1119 |
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"model": "Intel RealSense D435I",
|
| 1120 |
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"mount_rotation_deg": 0,
|
| 1121 |
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|
| 1122 |
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"serial": "344422072211",
|
| 1123 |
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|
| 1124 |
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|
| 1125 |
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"timestamp_domain": "global_time_us",
|
| 1126 |
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"usb": "3.2"
|
| 1127 |
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},
|
| 1128 |
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"observation.images.d435_ir2": {
|
| 1129 |
+
"depth_visual_preset": "High Density",
|
| 1130 |
+
"emitter_enabled": true,
|
| 1131 |
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"firmware": "5.15.1.55",
|
| 1132 |
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"format": "Y8",
|
| 1133 |
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|
| 1134 |
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|
| 1135 |
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|
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|
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|
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|
| 1150 |
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"ir1_to_robot": {
|
| 1151 |
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"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link",
|
| 1152 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 1153 |
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"from": "infrared_1",
|
| 1154 |
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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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|
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|
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]
|
| 1170 |
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],
|
| 1171 |
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 1172 |
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"source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline",
|
| 1173 |
+
"to": "torso_link",
|
| 1174 |
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|
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|
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|
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|
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|
| 1179 |
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"translation_units": "meters"
|
| 1180 |
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},
|
| 1181 |
+
"ir1_to_stream": {
|
| 1182 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
| 1183 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 1184 |
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"from": "infrared_1",
|
| 1185 |
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|
| 1186 |
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[
|
| 1187 |
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|
| 1188 |
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|
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|
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|
| 1191 |
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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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|
| 1199 |
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|
| 1200 |
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|
| 1201 |
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],
|
| 1202 |
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"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 1203 |
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"to": "this stream",
|
| 1204 |
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"translation": [
|
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|
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|
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|
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|
| 1209 |
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"translation_units": "meters"
|
| 1210 |
+
},
|
| 1211 |
+
"model": "Intel RealSense D435I",
|
| 1212 |
+
"mount_rotation_deg": 0,
|
| 1213 |
+
"recorded_fps": 30,
|
| 1214 |
+
"serial": "344422072211",
|
| 1215 |
+
"stereo_module_fps": 90,
|
| 1216 |
+
"stream": "Infrared 2",
|
| 1217 |
+
"timestamp_domain": "global_time_us",
|
| 1218 |
+
"usb": "3.2"
|
| 1219 |
+
}
|
| 1220 |
+
}
|
eggs/meta/d435_imu.json
ADDED
|
@@ -0,0 +1,94 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"device": {
|
| 3 |
+
"accel_hz": 100,
|
| 4 |
+
"accel_to_color": {
|
| 5 |
+
"convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame",
|
| 6 |
+
"frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 7 |
+
"from": "accel",
|
| 8 |
+
"rotation": [
|
| 9 |
+
[
|
| 10 |
+
0.9998977184295654,
|
| 11 |
+
-0.012767679989337921,
|
| 12 |
+
-0.006449446082115173
|
| 13 |
+
],
|
| 14 |
+
[
|
| 15 |
+
0.012749895453453064,
|
| 16 |
+
0.999914824962616,
|
| 17 |
+
-0.0027912240475416183
|
| 18 |
+
],
|
| 19 |
+
[
|
| 20 |
+
0.006484534125775099,
|
| 21 |
+
0.0027087086346000433,
|
| 22 |
+
0.999975323677063
|
| 23 |
+
]
|
| 24 |
+
],
|
| 25 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 26 |
+
"source": "librealsense get_extrinsics_to: the IMU-to-depth part is Intel's nominal design value, the depth-to-color part the per-unit factory calibration",
|
| 27 |
+
"to": "color",
|
| 28 |
+
"translation": [
|
| 29 |
+
0.020711706951260567,
|
| 30 |
+
-0.004466243088245392,
|
| 31 |
+
-0.011321520432829857
|
| 32 |
+
],
|
| 33 |
+
"translation_units": "meters"
|
| 34 |
+
},
|
| 35 |
+
"firmware": "5.15.1.55",
|
| 36 |
+
"gyro_hz": 200,
|
| 37 |
+
"gyro_to_color": {
|
| 38 |
+
"convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame",
|
| 39 |
+
"frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 40 |
+
"from": "gyro",
|
| 41 |
+
"rotation": [
|
| 42 |
+
[
|
| 43 |
+
0.9998977184295654,
|
| 44 |
+
-0.012767679989337921,
|
| 45 |
+
-0.006449446082115173
|
| 46 |
+
],
|
| 47 |
+
[
|
| 48 |
+
0.012749895453453064,
|
| 49 |
+
0.999914824962616,
|
| 50 |
+
-0.0027912240475416183
|
| 51 |
+
],
|
| 52 |
+
[
|
| 53 |
+
0.006484534125775099,
|
| 54 |
+
0.0027087086346000433,
|
| 55 |
+
0.999975323677063
|
| 56 |
+
]
|
| 57 |
+
],
|
| 58 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 59 |
+
"source": "librealsense get_extrinsics_to: the IMU-to-depth part is Intel's nominal design value, the depth-to-color part the per-unit factory calibration",
|
| 60 |
+
"to": "color",
|
| 61 |
+
"translation": [
|
| 62 |
+
0.020711706951260567,
|
| 63 |
+
-0.004466243088245392,
|
| 64 |
+
-0.011321520432829857
|
| 65 |
+
],
|
| 66 |
+
"translation_units": "meters"
|
| 67 |
+
},
|
| 68 |
+
"imu": "BMI085",
|
| 69 |
+
"model": "Intel RealSense D435I",
|
| 70 |
+
"serial": "344422072211"
|
| 71 |
+
},
|
| 72 |
+
"files": [
|
| 73 |
+
"d435_imu/imu-000.parquet"
|
| 74 |
+
],
|
| 75 |
+
"clocks": {
|
| 76 |
+
"sensor_ts_us": "camera global time on the system clock, the clock of the video frames' observation.sensor_ts_us and the rows' observation.row_time_us",
|
| 77 |
+
"host_ns": "system clock when the sample arrived"
|
| 78 |
+
},
|
| 79 |
+
"coverage": {
|
| 80 |
+
"start_us": 1791212498734562,
|
| 81 |
+
"end_us": 1791212730901228,
|
| 82 |
+
"rule": "rows whose capture time on the system clock is in [start_us, end_us): start_us is row 0's observation.row_time_us, end_us = start_us + rows / fps, one row period after the last row"
|
| 83 |
+
},
|
| 84 |
+
"columns": {
|
| 85 |
+
"calibration": "raw: the camera stores no IMU intrinsic calibration",
|
| 86 |
+
"frame": "D435i IMU axes, mapped into the color camera frame by meta/calibration.json d435_imu.gyro_to_color and accel_to_color",
|
| 87 |
+
"host_ns": "system clock at receive",
|
| 88 |
+
"kind": "0 = gyro, 1 = accel",
|
| 89 |
+
"sensor_ts_us": "camera global time, the same clock as the video frames' observation.sensor_ts_us",
|
| 90 |
+
"source": "Intel RealSense D435i motion module (BMI085), one row per sample",
|
| 91 |
+
"units": "gyro rad/s, accel m/s^2"
|
| 92 |
+
},
|
| 93 |
+
"samples": 69704
|
| 94 |
+
}
|
eggs/meta/depth.json
ADDED
|
@@ -0,0 +1,433 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"fps": 15,
|
| 3 |
+
"row_step": 2,
|
| 4 |
+
"row_mapping": "depth frame i belongs to the data row with frame_index = i * row_step; its pts is i / fps seconds, equal to that row's timestamp",
|
| 5 |
+
"streams": {
|
| 6 |
+
"d435_depth": {
|
| 7 |
+
"path": "depth/d435_depth/chunk-000/file-000.mov",
|
| 8 |
+
"frames": 3483,
|
| 9 |
+
"height": 240,
|
| 10 |
+
"width": 424,
|
| 11 |
+
"channels": 1,
|
| 12 |
+
"codec": "ffv1",
|
| 13 |
+
"pix_fmt": "gray16le",
|
| 14 |
+
"container": "mov",
|
| 15 |
+
"g": 1,
|
| 16 |
+
"lossless": true,
|
| 17 |
+
"units": "raw z16; meters = value * depth_scale; 0 = invalid",
|
| 18 |
+
"depth_scale": 0.0010000000474974513,
|
| 19 |
+
"source": "RealSense on-chip depth, decimated 2x",
|
| 20 |
+
"camera": {
|
| 21 |
+
"decimation": 2.0,
|
| 22 |
+
"depth_scale": 0.0010000000474974513,
|
| 23 |
+
"depth_visual_preset": "High Density",
|
| 24 |
+
"emitter_enabled": true,
|
| 25 |
+
"firmware": "5.15.1.55",
|
| 26 |
+
"format": "Z16",
|
| 27 |
+
"frames_rotated_upright": false,
|
| 28 |
+
"intrinsics": {
|
| 29 |
+
"coeffs": [
|
| 30 |
+
0.0,
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
"fx": 213.7545166015625,
|
| 37 |
+
"fy": 213.7545166015625,
|
| 38 |
+
"height": 240,
|
| 39 |
+
"model": "Brown Conrady",
|
| 40 |
+
"ppx": 211.14247131347656,
|
| 41 |
+
"ppy": 118.16234588623047,
|
| 42 |
+
"width": 424
|
| 43 |
+
},
|
| 44 |
+
"ir1_to_robot": {
|
| 45 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link",
|
| 46 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 47 |
+
"from": "infrared_1",
|
| 48 |
+
"rotation": [
|
| 49 |
+
[
|
| 50 |
+
-2.220446049250313e-16,
|
| 51 |
+
-0.7384553316173743,
|
| 52 |
+
0.6743023974493004
|
| 53 |
+
],
|
| 54 |
+
[
|
| 55 |
+
-1.0000000000000002,
|
| 56 |
+
2.220446049250313e-16,
|
| 57 |
+
-1.0303904848204921e-17
|
| 58 |
+
],
|
| 59 |
+
[
|
| 60 |
+
-1.0303904848204921e-17,
|
| 61 |
+
-0.6743023974493004,
|
| 62 |
+
-0.7384553316173741
|
| 63 |
+
]
|
| 64 |
+
],
|
| 65 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 66 |
+
"source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline",
|
| 67 |
+
"to": "torso_link",
|
| 68 |
+
"translation": [
|
| 69 |
+
0.0576235,
|
| 70 |
+
0.042573,
|
| 71 |
+
0.41987
|
| 72 |
+
],
|
| 73 |
+
"translation_units": "meters"
|
| 74 |
+
},
|
| 75 |
+
"ir1_to_stream": {
|
| 76 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame",
|
| 77 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 78 |
+
"from": "infrared_1",
|
| 79 |
+
"rotation": [
|
| 80 |
+
[
|
| 81 |
+
1.0,
|
| 82 |
+
0.0,
|
| 83 |
+
0.0
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
0.0,
|
| 87 |
+
1.0,
|
| 88 |
+
0.0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
]
|
| 95 |
+
],
|
| 96 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 97 |
+
"to": "this stream",
|
| 98 |
+
"translation": [
|
| 99 |
+
0.0,
|
| 100 |
+
0.0,
|
| 101 |
+
0.0
|
| 102 |
+
],
|
| 103 |
+
"translation_units": "meters"
|
| 104 |
+
},
|
| 105 |
+
"model": "Intel RealSense D435I",
|
| 106 |
+
"mount_rotation_deg": 0,
|
| 107 |
+
"recorded_fps": 15,
|
| 108 |
+
"serial": "344422072211",
|
| 109 |
+
"stereo_module_fps": 90,
|
| 110 |
+
"stream": "depth",
|
| 111 |
+
"timestamp_domain": "global_time_us",
|
| 112 |
+
"usb": "3.2"
|
| 113 |
+
},
|
| 114 |
+
"stats_units": "meters, invalid zeros excluded",
|
| 115 |
+
"stats": {
|
| 116 |
+
"min": [
|
| 117 |
+
0.17100000812206417
|
| 118 |
+
],
|
| 119 |
+
"max": [
|
| 120 |
+
65.53500311274547
|
| 121 |
+
],
|
| 122 |
+
"mean": [
|
| 123 |
+
0.5548748730436955
|
| 124 |
+
],
|
| 125 |
+
"std": [
|
| 126 |
+
0.2859017618929819
|
| 127 |
+
],
|
| 128 |
+
"count": [
|
| 129 |
+
3483
|
| 130 |
+
],
|
| 131 |
+
"q01": [
|
| 132 |
+
0.23283941511479508
|
| 133 |
+
],
|
| 134 |
+
"q10": [
|
| 135 |
+
0.3266568728882803
|
| 136 |
+
],
|
| 137 |
+
"q50": [
|
| 138 |
+
0.5085882688259623
|
| 139 |
+
],
|
| 140 |
+
"q90": [
|
| 141 |
+
0.7434453137017224
|
| 142 |
+
],
|
| 143 |
+
"q99": [
|
| 144 |
+
1.174403776601308
|
| 145 |
+
]
|
| 146 |
+
}
|
| 147 |
+
},
|
| 148 |
+
"d405_left_depth": {
|
| 149 |
+
"path": "depth/d405_left_depth/chunk-000/file-000.mov",
|
| 150 |
+
"frames": 3483,
|
| 151 |
+
"height": 240,
|
| 152 |
+
"width": 424,
|
| 153 |
+
"channels": 1,
|
| 154 |
+
"codec": "ffv1",
|
| 155 |
+
"pix_fmt": "gray16le",
|
| 156 |
+
"container": "mov",
|
| 157 |
+
"g": 1,
|
| 158 |
+
"lossless": true,
|
| 159 |
+
"units": "raw z16; meters = value * depth_scale; 0 = invalid",
|
| 160 |
+
"depth_scale": 9.999999747378752e-05,
|
| 161 |
+
"source": "RealSense on-chip depth, decimated 2x",
|
| 162 |
+
"camera": {
|
| 163 |
+
"decimation": 1.0,
|
| 164 |
+
"depth_scale": 9.999999747378752e-05,
|
| 165 |
+
"depth_visual_preset": "High Density",
|
| 166 |
+
"emitter_enabled": null,
|
| 167 |
+
"firmware": "5.15.1.55",
|
| 168 |
+
"format": "Z16",
|
| 169 |
+
"frames_rotated_upright": false,
|
| 170 |
+
"intrinsics": {
|
| 171 |
+
"coeffs": [
|
| 172 |
+
0.0,
|
| 173 |
+
0.0,
|
| 174 |
+
0.0,
|
| 175 |
+
0.0,
|
| 176 |
+
0.0
|
| 177 |
+
],
|
| 178 |
+
"fx": 214.20974731445313,
|
| 179 |
+
"fy": 214.20974731445313,
|
| 180 |
+
"height": 240,
|
| 181 |
+
"model": "Brown Conrady",
|
| 182 |
+
"ppx": 214.87191772460938,
|
| 183 |
+
"ppy": 120.27647399902344,
|
| 184 |
+
"width": 424
|
| 185 |
+
},
|
| 186 |
+
"ir1_to_robot": {
|
| 187 |
+
"convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link",
|
| 188 |
+
"frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center",
|
| 189 |
+
"from": "infrared_1",
|
| 190 |
+
"rotation": [
|
| 191 |
+
[
|
| 192 |
+
0.0,
|
| 193 |
+
-0.5000042102057056,
|
| 194 |
+
0.8660229730073958
|
| 195 |
+
],
|
| 196 |
+
[
|
| 197 |
+
-1.0,
|
| 198 |
+
-0.0,
|
| 199 |
+
-1.468247496825271e-17
|
| 200 |
+
],
|
| 201 |
+
[
|
| 202 |
+
-1.468247496825271e-17,
|
| 203 |
+
-0.8660229730073958,
|
| 204 |
+
-0.5000042102057056
|
| 205 |
+
]
|
| 206 |
+
],
|
| 207 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 208 |
+
"source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated",
|
| 209 |
+
"to": "left_dex1_base_link",
|
| 210 |
+
"translation": [
|
| 211 |
+
0.05839,
|
| 212 |
+
0.0090169,
|
| 213 |
+
0.05774
|
| 214 |
+
],
|
| 215 |
+
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| 216 |
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| 217 |
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| 218 |
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| 219 |
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|
| 291 |
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|
| 303 |
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|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"fps": 30,
|
| 4 |
+
"features": {
|
| 5 |
+
"observation.state": {
|
| 6 |
+
"dtype": "float32",
|
| 7 |
+
"shape": [
|
| 8 |
+
60
|
| 9 |
+
],
|
| 10 |
+
"names": [
|
| 11 |
+
"left_hip_pitch_joint.pos",
|
| 12 |
+
"left_hip_roll_joint.pos",
|
| 13 |
+
"left_hip_yaw_joint.pos",
|
| 14 |
+
"left_knee_joint.pos",
|
| 15 |
+
"left_ankle_pitch_joint.pos",
|
| 16 |
+
"left_ankle_roll_joint.pos",
|
| 17 |
+
"right_hip_pitch_joint.pos",
|
| 18 |
+
"right_hip_roll_joint.pos",
|
| 19 |
+
"right_hip_yaw_joint.pos",
|
| 20 |
+
"right_knee_joint.pos",
|
| 21 |
+
"right_ankle_pitch_joint.pos",
|
| 22 |
+
"right_ankle_roll_joint.pos",
|
| 23 |
+
"waist_yaw_joint.pos",
|
| 24 |
+
"waist_roll_joint.pos",
|
| 25 |
+
"waist_pitch_joint.pos",
|
| 26 |
+
"left_shoulder_pitch_joint.pos",
|
| 27 |
+
"left_shoulder_roll_joint.pos",
|
| 28 |
+
"left_shoulder_yaw_joint.pos",
|
| 29 |
+
"left_elbow_joint.pos",
|
| 30 |
+
"left_wrist_roll_joint.pos",
|
| 31 |
+
"left_wrist_pitch_joint.pos",
|
| 32 |
+
"left_wrist_yaw_joint.pos",
|
| 33 |
+
"right_shoulder_pitch_joint.pos",
|
| 34 |
+
"right_shoulder_roll_joint.pos",
|
| 35 |
+
"right_shoulder_yaw_joint.pos",
|
| 36 |
+
"right_elbow_joint.pos",
|
| 37 |
+
"right_wrist_roll_joint.pos",
|
| 38 |
+
"right_wrist_pitch_joint.pos",
|
| 39 |
+
"right_wrist_yaw_joint.pos",
|
| 40 |
+
"left_hip_pitch_joint.vel",
|
| 41 |
+
"left_hip_roll_joint.vel",
|
| 42 |
+
"left_hip_yaw_joint.vel",
|
| 43 |
+
"left_knee_joint.vel",
|
| 44 |
+
"left_ankle_pitch_joint.vel",
|
| 45 |
+
"left_ankle_roll_joint.vel",
|
| 46 |
+
"right_hip_pitch_joint.vel",
|
| 47 |
+
"right_hip_roll_joint.vel",
|
| 48 |
+
"right_hip_yaw_joint.vel",
|
| 49 |
+
"right_knee_joint.vel",
|
| 50 |
+
"right_ankle_pitch_joint.vel",
|
| 51 |
+
"right_ankle_roll_joint.vel",
|
| 52 |
+
"waist_yaw_joint.vel",
|
| 53 |
+
"waist_roll_joint.vel",
|
| 54 |
+
"waist_pitch_joint.vel",
|
| 55 |
+
"left_shoulder_pitch_joint.vel",
|
| 56 |
+
"left_shoulder_roll_joint.vel",
|
| 57 |
+
"left_shoulder_yaw_joint.vel",
|
| 58 |
+
"left_elbow_joint.vel",
|
| 59 |
+
"left_wrist_roll_joint.vel",
|
| 60 |
+
"left_wrist_pitch_joint.vel",
|
| 61 |
+
"left_wrist_yaw_joint.vel",
|
| 62 |
+
"right_shoulder_pitch_joint.vel",
|
| 63 |
+
"right_shoulder_roll_joint.vel",
|
| 64 |
+
"right_shoulder_yaw_joint.vel",
|
| 65 |
+
"right_elbow_joint.vel",
|
| 66 |
+
"right_wrist_roll_joint.vel",
|
| 67 |
+
"right_wrist_pitch_joint.vel",
|
| 68 |
+
"right_wrist_yaw_joint.vel",
|
| 69 |
+
"left_hand.aperture",
|
| 70 |
+
"right_hand.aperture"
|
| 71 |
+
],
|
| 72 |
+
"units": [
|
| 73 |
+
"rad",
|
| 74 |
+
"rad",
|
| 75 |
+
"rad",
|
| 76 |
+
"rad",
|
| 77 |
+
"rad",
|
| 78 |
+
"rad",
|
| 79 |
+
"rad",
|
| 80 |
+
"rad",
|
| 81 |
+
"rad",
|
| 82 |
+
"rad",
|
| 83 |
+
"rad",
|
| 84 |
+
"rad",
|
| 85 |
+
"rad",
|
| 86 |
+
"rad",
|
| 87 |
+
"rad",
|
| 88 |
+
"rad",
|
| 89 |
+
"rad",
|
| 90 |
+
"rad",
|
| 91 |
+
"rad",
|
| 92 |
+
"rad",
|
| 93 |
+
"rad",
|
| 94 |
+
"rad",
|
| 95 |
+
"rad",
|
| 96 |
+
"rad",
|
| 97 |
+
"rad",
|
| 98 |
+
"rad",
|
| 99 |
+
"rad",
|
| 100 |
+
"rad",
|
| 101 |
+
"rad",
|
| 102 |
+
"rad/s",
|
| 103 |
+
"rad/s",
|
| 104 |
+
"rad/s",
|
| 105 |
+
"rad/s",
|
| 106 |
+
"rad/s",
|
| 107 |
+
"rad/s",
|
| 108 |
+
"rad/s",
|
| 109 |
+
"rad/s",
|
| 110 |
+
"rad/s",
|
| 111 |
+
"rad/s",
|
| 112 |
+
"rad/s",
|
| 113 |
+
"rad/s",
|
| 114 |
+
"rad/s",
|
| 115 |
+
"rad/s",
|
| 116 |
+
"rad/s",
|
| 117 |
+
"rad/s",
|
| 118 |
+
"rad/s",
|
| 119 |
+
"rad/s",
|
| 120 |
+
"rad/s",
|
| 121 |
+
"rad/s",
|
| 122 |
+
"rad/s",
|
| 123 |
+
"rad/s",
|
| 124 |
+
"rad/s",
|
| 125 |
+
"rad/s",
|
| 126 |
+
"rad/s",
|
| 127 |
+
"rad/s",
|
| 128 |
+
"rad/s",
|
| 129 |
+
"rad/s",
|
| 130 |
+
"rad/s",
|
| 131 |
+
"fraction 0..1",
|
| 132 |
+
"fraction 0..1"
|
| 133 |
+
]
|
| 134 |
+
},
|
| 135 |
+
"observation.imu.pelvis": {
|
| 136 |
+
"dtype": "float32",
|
| 137 |
+
"shape": [
|
| 138 |
+
10
|
| 139 |
+
],
|
| 140 |
+
"names": [
|
| 141 |
+
"quat_w",
|
| 142 |
+
"quat_x",
|
| 143 |
+
"quat_y",
|
| 144 |
+
"quat_z",
|
| 145 |
+
"gyro_x",
|
| 146 |
+
"gyro_y",
|
| 147 |
+
"gyro_z",
|
| 148 |
+
"acc_x",
|
| 149 |
+
"acc_y",
|
| 150 |
+
"acc_z"
|
| 151 |
+
],
|
| 152 |
+
"units": [
|
| 153 |
+
"unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world",
|
| 154 |
+
"unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world",
|
| 155 |
+
"unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world",
|
| 156 |
+
"unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world",
|
| 157 |
+
"rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate",
|
| 158 |
+
"rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate",
|
| 159 |
+
"rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate",
|
| 160 |
+
"m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate",
|
| 161 |
+
"m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate",
|
| 162 |
+
"m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate"
|
| 163 |
+
]
|
| 164 |
+
},
|
| 165 |
+
"observation.imu.chest": {
|
| 166 |
+
"dtype": "float32",
|
| 167 |
+
"shape": [
|
| 168 |
+
10
|
| 169 |
+
],
|
| 170 |
+
"names": [
|
| 171 |
+
"quat_w",
|
| 172 |
+
"quat_x",
|
| 173 |
+
"quat_y",
|
| 174 |
+
"quat_z",
|
| 175 |
+
"gyro_x",
|
| 176 |
+
"gyro_y",
|
| 177 |
+
"gyro_z",
|
| 178 |
+
"acc_x",
|
| 179 |
+
"acc_y",
|
| 180 |
+
"acc_z"
|
| 181 |
+
],
|
| 182 |
+
"units": [
|
| 183 |
+
"unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world",
|
| 184 |
+
"unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world",
|
| 185 |
+
"unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world",
|
| 186 |
+
"unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world",
|
| 187 |
+
"rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message",
|
| 188 |
+
"rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message",
|
| 189 |
+
"rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message",
|
| 190 |
+
"m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message",
|
| 191 |
+
"m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message",
|
| 192 |
+
"m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message"
|
| 193 |
+
]
|
| 194 |
+
},
|
| 195 |
+
"observation.effort": {
|
| 196 |
+
"dtype": "float32",
|
| 197 |
+
"shape": [
|
| 198 |
+
31
|
| 199 |
+
],
|
| 200 |
+
"names": [
|
| 201 |
+
"left_hip_pitch_joint.tau",
|
| 202 |
+
"left_hip_roll_joint.tau",
|
| 203 |
+
"left_hip_yaw_joint.tau",
|
| 204 |
+
"left_knee_joint.tau",
|
| 205 |
+
"left_ankle_pitch_joint.tau",
|
| 206 |
+
"left_ankle_roll_joint.tau",
|
| 207 |
+
"right_hip_pitch_joint.tau",
|
| 208 |
+
"right_hip_roll_joint.tau",
|
| 209 |
+
"right_hip_yaw_joint.tau",
|
| 210 |
+
"right_knee_joint.tau",
|
| 211 |
+
"right_ankle_pitch_joint.tau",
|
| 212 |
+
"right_ankle_roll_joint.tau",
|
| 213 |
+
"waist_yaw_joint.tau",
|
| 214 |
+
"waist_roll_joint.tau",
|
| 215 |
+
"waist_pitch_joint.tau",
|
| 216 |
+
"left_shoulder_pitch_joint.tau",
|
| 217 |
+
"left_shoulder_roll_joint.tau",
|
| 218 |
+
"left_shoulder_yaw_joint.tau",
|
| 219 |
+
"left_elbow_joint.tau",
|
| 220 |
+
"left_wrist_roll_joint.tau",
|
| 221 |
+
"left_wrist_pitch_joint.tau",
|
| 222 |
+
"left_wrist_yaw_joint.tau",
|
| 223 |
+
"right_shoulder_pitch_joint.tau",
|
| 224 |
+
"right_shoulder_roll_joint.tau",
|
| 225 |
+
"right_shoulder_yaw_joint.tau",
|
| 226 |
+
"right_elbow_joint.tau",
|
| 227 |
+
"right_wrist_roll_joint.tau",
|
| 228 |
+
"right_wrist_pitch_joint.tau",
|
| 229 |
+
"right_wrist_yaw_joint.tau",
|
| 230 |
+
"left_hand.tau",
|
| 231 |
+
"right_hand.tau"
|
| 232 |
+
],
|
| 233 |
+
"units": [
|
| 234 |
+
"N*m",
|
| 235 |
+
"N*m",
|
| 236 |
+
"N*m",
|
| 237 |
+
"N*m",
|
| 238 |
+
"N*m",
|
| 239 |
+
"N*m",
|
| 240 |
+
"N*m",
|
| 241 |
+
"N*m",
|
| 242 |
+
"N*m",
|
| 243 |
+
"N*m",
|
| 244 |
+
"N*m",
|
| 245 |
+
"N*m",
|
| 246 |
+
"N*m",
|
| 247 |
+
"N*m",
|
| 248 |
+
"N*m",
|
| 249 |
+
"N*m",
|
| 250 |
+
"N*m",
|
| 251 |
+
"N*m",
|
| 252 |
+
"N*m",
|
| 253 |
+
"N*m",
|
| 254 |
+
"N*m",
|
| 255 |
+
"N*m",
|
| 256 |
+
"N*m",
|
| 257 |
+
"N*m",
|
| 258 |
+
"N*m",
|
| 259 |
+
"N*m",
|
| 260 |
+
"N*m",
|
| 261 |
+
"N*m",
|
| 262 |
+
"N*m",
|
| 263 |
+
"N*m",
|
| 264 |
+
"N*m"
|
| 265 |
+
]
|
| 266 |
+
},
|
| 267 |
+
"observation.motor_temp": {
|
| 268 |
+
"dtype": "float32",
|
| 269 |
+
"shape": [
|
| 270 |
+
29
|
| 271 |
+
],
|
| 272 |
+
"names": [
|
| 273 |
+
"left_hip_pitch_joint.temp",
|
| 274 |
+
"left_hip_roll_joint.temp",
|
| 275 |
+
"left_hip_yaw_joint.temp",
|
| 276 |
+
"left_knee_joint.temp",
|
| 277 |
+
"left_ankle_pitch_joint.temp",
|
| 278 |
+
"left_ankle_roll_joint.temp",
|
| 279 |
+
"right_hip_pitch_joint.temp",
|
| 280 |
+
"right_hip_roll_joint.temp",
|
| 281 |
+
"right_hip_yaw_joint.temp",
|
| 282 |
+
"right_knee_joint.temp",
|
| 283 |
+
"right_ankle_pitch_joint.temp",
|
| 284 |
+
"right_ankle_roll_joint.temp",
|
| 285 |
+
"waist_yaw_joint.temp",
|
| 286 |
+
"waist_roll_joint.temp",
|
| 287 |
+
"waist_pitch_joint.temp",
|
| 288 |
+
"left_shoulder_pitch_joint.temp",
|
| 289 |
+
"left_shoulder_roll_joint.temp",
|
| 290 |
+
"left_shoulder_yaw_joint.temp",
|
| 291 |
+
"left_elbow_joint.temp",
|
| 292 |
+
"left_wrist_roll_joint.temp",
|
| 293 |
+
"left_wrist_pitch_joint.temp",
|
| 294 |
+
"left_wrist_yaw_joint.temp",
|
| 295 |
+
"right_shoulder_pitch_joint.temp",
|
| 296 |
+
"right_shoulder_roll_joint.temp",
|
| 297 |
+
"right_shoulder_yaw_joint.temp",
|
| 298 |
+
"right_elbow_joint.temp",
|
| 299 |
+
"right_wrist_roll_joint.temp",
|
| 300 |
+
"right_wrist_pitch_joint.temp",
|
| 301 |
+
"right_wrist_yaw_joint.temp"
|
| 302 |
+
],
|
| 303 |
+
"units": [
|
| 304 |
+
"degC",
|
| 305 |
+
"degC",
|
| 306 |
+
"degC",
|
| 307 |
+
"degC",
|
| 308 |
+
"degC",
|
| 309 |
+
"degC",
|
| 310 |
+
"degC",
|
| 311 |
+
"degC",
|
| 312 |
+
"degC",
|
| 313 |
+
"degC",
|
| 314 |
+
"degC",
|
| 315 |
+
"degC",
|
| 316 |
+
"degC",
|
| 317 |
+
"degC",
|
| 318 |
+
"degC",
|
| 319 |
+
"degC",
|
| 320 |
+
"degC",
|
| 321 |
+
"degC",
|
| 322 |
+
"degC",
|
| 323 |
+
"degC",
|
| 324 |
+
"degC",
|
| 325 |
+
"degC",
|
| 326 |
+
"degC",
|
| 327 |
+
"degC",
|
| 328 |
+
"degC",
|
| 329 |
+
"degC",
|
| 330 |
+
"degC",
|
| 331 |
+
"degC",
|
| 332 |
+
"degC"
|
| 333 |
+
]
|
| 334 |
+
},
|
| 335 |
+
"action": {
|
| 336 |
+
"dtype": "float32",
|
| 337 |
+
"shape": [
|
| 338 |
+
31
|
| 339 |
+
],
|
| 340 |
+
"names": [
|
| 341 |
+
"left_hip_pitch_joint.pos",
|
| 342 |
+
"left_hip_roll_joint.pos",
|
| 343 |
+
"left_hip_yaw_joint.pos",
|
| 344 |
+
"left_knee_joint.pos",
|
| 345 |
+
"left_ankle_pitch_joint.pos",
|
| 346 |
+
"left_ankle_roll_joint.pos",
|
| 347 |
+
"right_hip_pitch_joint.pos",
|
| 348 |
+
"right_hip_roll_joint.pos",
|
| 349 |
+
"right_hip_yaw_joint.pos",
|
| 350 |
+
"right_knee_joint.pos",
|
| 351 |
+
"right_ankle_pitch_joint.pos",
|
| 352 |
+
"right_ankle_roll_joint.pos",
|
| 353 |
+
"waist_yaw_joint.pos",
|
| 354 |
+
"waist_roll_joint.pos",
|
| 355 |
+
"waist_pitch_joint.pos",
|
| 356 |
+
"left_shoulder_pitch_joint.pos",
|
| 357 |
+
"left_shoulder_roll_joint.pos",
|
| 358 |
+
"left_shoulder_yaw_joint.pos",
|
| 359 |
+
"left_elbow_joint.pos",
|
| 360 |
+
"left_wrist_roll_joint.pos",
|
| 361 |
+
"left_wrist_pitch_joint.pos",
|
| 362 |
+
"left_wrist_yaw_joint.pos",
|
| 363 |
+
"right_shoulder_pitch_joint.pos",
|
| 364 |
+
"right_shoulder_roll_joint.pos",
|
| 365 |
+
"right_shoulder_yaw_joint.pos",
|
| 366 |
+
"right_elbow_joint.pos",
|
| 367 |
+
"right_wrist_roll_joint.pos",
|
| 368 |
+
"right_wrist_pitch_joint.pos",
|
| 369 |
+
"right_wrist_yaw_joint.pos",
|
| 370 |
+
"left_hand.aperture",
|
| 371 |
+
"right_hand.aperture"
|
| 372 |
+
],
|
| 373 |
+
"units": [
|
| 374 |
+
"rad",
|
| 375 |
+
"rad",
|
| 376 |
+
"rad",
|
| 377 |
+
"rad",
|
| 378 |
+
"rad",
|
| 379 |
+
"rad",
|
| 380 |
+
"rad",
|
| 381 |
+
"rad",
|
| 382 |
+
"rad",
|
| 383 |
+
"rad",
|
| 384 |
+
"rad",
|
| 385 |
+
"rad",
|
| 386 |
+
"rad",
|
| 387 |
+
"rad",
|
| 388 |
+
"rad",
|
| 389 |
+
"rad",
|
| 390 |
+
"rad",
|
| 391 |
+
"rad",
|
| 392 |
+
"rad",
|
| 393 |
+
"rad",
|
| 394 |
+
"rad",
|
| 395 |
+
"rad",
|
| 396 |
+
"rad",
|
| 397 |
+
"rad",
|
| 398 |
+
"rad",
|
| 399 |
+
"rad",
|
| 400 |
+
"rad",
|
| 401 |
+
"rad",
|
| 402 |
+
"rad",
|
| 403 |
+
"fraction 0..1",
|
| 404 |
+
"fraction 0..1"
|
| 405 |
+
]
|
| 406 |
+
},
|
| 407 |
+
"action.kp": {
|
| 408 |
+
"dtype": "float32",
|
| 409 |
+
"shape": [
|
| 410 |
+
29
|
| 411 |
+
],
|
| 412 |
+
"names": [
|
| 413 |
+
"left_hip_pitch_joint.kp",
|
| 414 |
+
"left_hip_roll_joint.kp",
|
| 415 |
+
"left_hip_yaw_joint.kp",
|
| 416 |
+
"left_knee_joint.kp",
|
| 417 |
+
"left_ankle_pitch_joint.kp",
|
| 418 |
+
"left_ankle_roll_joint.kp",
|
| 419 |
+
"right_hip_pitch_joint.kp",
|
| 420 |
+
"right_hip_roll_joint.kp",
|
| 421 |
+
"right_hip_yaw_joint.kp",
|
| 422 |
+
"right_knee_joint.kp",
|
| 423 |
+
"right_ankle_pitch_joint.kp",
|
| 424 |
+
"right_ankle_roll_joint.kp",
|
| 425 |
+
"waist_yaw_joint.kp",
|
| 426 |
+
"waist_roll_joint.kp",
|
| 427 |
+
"waist_pitch_joint.kp",
|
| 428 |
+
"left_shoulder_pitch_joint.kp",
|
| 429 |
+
"left_shoulder_roll_joint.kp",
|
| 430 |
+
"left_shoulder_yaw_joint.kp",
|
| 431 |
+
"left_elbow_joint.kp",
|
| 432 |
+
"left_wrist_roll_joint.kp",
|
| 433 |
+
"left_wrist_pitch_joint.kp",
|
| 434 |
+
"left_wrist_yaw_joint.kp",
|
| 435 |
+
"right_shoulder_pitch_joint.kp",
|
| 436 |
+
"right_shoulder_roll_joint.kp",
|
| 437 |
+
"right_shoulder_yaw_joint.kp",
|
| 438 |
+
"right_elbow_joint.kp",
|
| 439 |
+
"right_wrist_roll_joint.kp",
|
| 440 |
+
"right_wrist_pitch_joint.kp",
|
| 441 |
+
"right_wrist_yaw_joint.kp"
|
| 442 |
+
],
|
| 443 |
+
"units": [
|
| 444 |
+
"N*m/rad",
|
| 445 |
+
"N*m/rad",
|
| 446 |
+
"N*m/rad",
|
| 447 |
+
"N*m/rad",
|
| 448 |
+
"N*m/rad",
|
| 449 |
+
"N*m/rad",
|
| 450 |
+
"N*m/rad",
|
| 451 |
+
"N*m/rad",
|
| 452 |
+
"N*m/rad",
|
| 453 |
+
"N*m/rad",
|
| 454 |
+
"N*m/rad",
|
| 455 |
+
"N*m/rad",
|
| 456 |
+
"N*m/rad",
|
| 457 |
+
"N*m/rad",
|
| 458 |
+
"N*m/rad",
|
| 459 |
+
"N*m/rad",
|
| 460 |
+
"N*m/rad",
|
| 461 |
+
"N*m/rad",
|
| 462 |
+
"N*m/rad",
|
| 463 |
+
"N*m/rad",
|
| 464 |
+
"N*m/rad",
|
| 465 |
+
"N*m/rad",
|
| 466 |
+
"N*m/rad",
|
| 467 |
+
"N*m/rad",
|
| 468 |
+
"N*m/rad",
|
| 469 |
+
"N*m/rad",
|
| 470 |
+
"N*m/rad",
|
| 471 |
+
"N*m/rad",
|
| 472 |
+
"N*m/rad"
|
| 473 |
+
]
|
| 474 |
+
},
|
| 475 |
+
"action.kd": {
|
| 476 |
+
"dtype": "float32",
|
| 477 |
+
"shape": [
|
| 478 |
+
29
|
| 479 |
+
],
|
| 480 |
+
"names": [
|
| 481 |
+
"left_hip_pitch_joint.kd",
|
| 482 |
+
"left_hip_roll_joint.kd",
|
| 483 |
+
"left_hip_yaw_joint.kd",
|
| 484 |
+
"left_knee_joint.kd",
|
| 485 |
+
"left_ankle_pitch_joint.kd",
|
| 486 |
+
"left_ankle_roll_joint.kd",
|
| 487 |
+
"right_hip_pitch_joint.kd",
|
| 488 |
+
"right_hip_roll_joint.kd",
|
| 489 |
+
"right_hip_yaw_joint.kd",
|
| 490 |
+
"right_knee_joint.kd",
|
| 491 |
+
"right_ankle_pitch_joint.kd",
|
| 492 |
+
"right_ankle_roll_joint.kd",
|
| 493 |
+
"waist_yaw_joint.kd",
|
| 494 |
+
"waist_roll_joint.kd",
|
| 495 |
+
"waist_pitch_joint.kd",
|
| 496 |
+
"left_shoulder_pitch_joint.kd",
|
| 497 |
+
"left_shoulder_roll_joint.kd",
|
| 498 |
+
"left_shoulder_yaw_joint.kd",
|
| 499 |
+
"left_elbow_joint.kd",
|
| 500 |
+
"left_wrist_roll_joint.kd",
|
| 501 |
+
"left_wrist_pitch_joint.kd",
|
| 502 |
+
"left_wrist_yaw_joint.kd",
|
| 503 |
+
"right_shoulder_pitch_joint.kd",
|
| 504 |
+
"right_shoulder_roll_joint.kd",
|
| 505 |
+
"right_shoulder_yaw_joint.kd",
|
| 506 |
+
"right_elbow_joint.kd",
|
| 507 |
+
"right_wrist_roll_joint.kd",
|
| 508 |
+
"right_wrist_pitch_joint.kd",
|
| 509 |
+
"right_wrist_yaw_joint.kd"
|
| 510 |
+
],
|
| 511 |
+
"units": [
|
| 512 |
+
"N*m*s/rad",
|
| 513 |
+
"N*m*s/rad",
|
| 514 |
+
"N*m*s/rad",
|
| 515 |
+
"N*m*s/rad",
|
| 516 |
+
"N*m*s/rad",
|
| 517 |
+
"N*m*s/rad",
|
| 518 |
+
"N*m*s/rad",
|
| 519 |
+
"N*m*s/rad",
|
| 520 |
+
"N*m*s/rad",
|
| 521 |
+
"N*m*s/rad",
|
| 522 |
+
"N*m*s/rad",
|
| 523 |
+
"N*m*s/rad",
|
| 524 |
+
"N*m*s/rad",
|
| 525 |
+
"N*m*s/rad",
|
| 526 |
+
"N*m*s/rad",
|
| 527 |
+
"N*m*s/rad",
|
| 528 |
+
"N*m*s/rad",
|
| 529 |
+
"N*m*s/rad",
|
| 530 |
+
"N*m*s/rad",
|
| 531 |
+
"N*m*s/rad",
|
| 532 |
+
"N*m*s/rad",
|
| 533 |
+
"N*m*s/rad",
|
| 534 |
+
"N*m*s/rad",
|
| 535 |
+
"N*m*s/rad",
|
| 536 |
+
"N*m*s/rad",
|
| 537 |
+
"N*m*s/rad",
|
| 538 |
+
"N*m*s/rad",
|
| 539 |
+
"N*m*s/rad",
|
| 540 |
+
"N*m*s/rad"
|
| 541 |
+
]
|
| 542 |
+
},
|
| 543 |
+
"action.tau_ff": {
|
| 544 |
+
"dtype": "float32",
|
| 545 |
+
"shape": [
|
| 546 |
+
29
|
| 547 |
+
],
|
| 548 |
+
"names": [
|
| 549 |
+
"left_hip_pitch_joint.tau_ff",
|
| 550 |
+
"left_hip_roll_joint.tau_ff",
|
| 551 |
+
"left_hip_yaw_joint.tau_ff",
|
| 552 |
+
"left_knee_joint.tau_ff",
|
| 553 |
+
"left_ankle_pitch_joint.tau_ff",
|
| 554 |
+
"left_ankle_roll_joint.tau_ff",
|
| 555 |
+
"right_hip_pitch_joint.tau_ff",
|
| 556 |
+
"right_hip_roll_joint.tau_ff",
|
| 557 |
+
"right_hip_yaw_joint.tau_ff",
|
| 558 |
+
"right_knee_joint.tau_ff",
|
| 559 |
+
"right_ankle_pitch_joint.tau_ff",
|
| 560 |
+
"right_ankle_roll_joint.tau_ff",
|
| 561 |
+
"waist_yaw_joint.tau_ff",
|
| 562 |
+
"waist_roll_joint.tau_ff",
|
| 563 |
+
"waist_pitch_joint.tau_ff",
|
| 564 |
+
"left_shoulder_pitch_joint.tau_ff",
|
| 565 |
+
"left_shoulder_roll_joint.tau_ff",
|
| 566 |
+
"left_shoulder_yaw_joint.tau_ff",
|
| 567 |
+
"left_elbow_joint.tau_ff",
|
| 568 |
+
"left_wrist_roll_joint.tau_ff",
|
| 569 |
+
"left_wrist_pitch_joint.tau_ff",
|
| 570 |
+
"left_wrist_yaw_joint.tau_ff",
|
| 571 |
+
"right_shoulder_pitch_joint.tau_ff",
|
| 572 |
+
"right_shoulder_roll_joint.tau_ff",
|
| 573 |
+
"right_shoulder_yaw_joint.tau_ff",
|
| 574 |
+
"right_elbow_joint.tau_ff",
|
| 575 |
+
"right_wrist_roll_joint.tau_ff",
|
| 576 |
+
"right_wrist_pitch_joint.tau_ff",
|
| 577 |
+
"right_wrist_yaw_joint.tau_ff"
|
| 578 |
+
],
|
| 579 |
+
"units": [
|
| 580 |
+
"N*m",
|
| 581 |
+
"N*m",
|
| 582 |
+
"N*m",
|
| 583 |
+
"N*m",
|
| 584 |
+
"N*m",
|
| 585 |
+
"N*m",
|
| 586 |
+
"N*m",
|
| 587 |
+
"N*m",
|
| 588 |
+
"N*m",
|
| 589 |
+
"N*m",
|
| 590 |
+
"N*m",
|
| 591 |
+
"N*m",
|
| 592 |
+
"N*m",
|
| 593 |
+
"N*m",
|
| 594 |
+
"N*m",
|
| 595 |
+
"N*m",
|
| 596 |
+
"N*m",
|
| 597 |
+
"N*m",
|
| 598 |
+
"N*m",
|
| 599 |
+
"N*m",
|
| 600 |
+
"N*m",
|
| 601 |
+
"N*m",
|
| 602 |
+
"N*m",
|
| 603 |
+
"N*m",
|
| 604 |
+
"N*m",
|
| 605 |
+
"N*m",
|
| 606 |
+
"N*m",
|
| 607 |
+
"N*m",
|
| 608 |
+
"N*m"
|
| 609 |
+
]
|
| 610 |
+
},
|
| 611 |
+
"action.teleop": {
|
| 612 |
+
"dtype": "float32",
|
| 613 |
+
"shape": [
|
| 614 |
+
26
|
| 615 |
+
],
|
| 616 |
+
"names": [
|
| 617 |
+
"left_wrist.x",
|
| 618 |
+
"left_wrist.y",
|
| 619 |
+
"left_wrist.z",
|
| 620 |
+
"left_wrist.qw",
|
| 621 |
+
"left_wrist.qx",
|
| 622 |
+
"left_wrist.qy",
|
| 623 |
+
"left_wrist.qz",
|
| 624 |
+
"right_wrist.x",
|
| 625 |
+
"right_wrist.y",
|
| 626 |
+
"right_wrist.z",
|
| 627 |
+
"right_wrist.qw",
|
| 628 |
+
"right_wrist.qx",
|
| 629 |
+
"right_wrist.qy",
|
| 630 |
+
"right_wrist.qz",
|
| 631 |
+
"vx",
|
| 632 |
+
"vy",
|
| 633 |
+
"yaw_rate",
|
| 634 |
+
"height_command",
|
| 635 |
+
"left_trigger",
|
| 636 |
+
"right_trigger",
|
| 637 |
+
"left_grip",
|
| 638 |
+
"right_grip",
|
| 639 |
+
"left_stick.x",
|
| 640 |
+
"left_stick.y",
|
| 641 |
+
"right_stick.x",
|
| 642 |
+
"right_stick.y"
|
| 643 |
+
],
|
| 644 |
+
"units": [
|
| 645 |
+
"m",
|
| 646 |
+
"m",
|
| 647 |
+
"m",
|
| 648 |
+
"unitless",
|
| 649 |
+
"unitless",
|
| 650 |
+
"unitless",
|
| 651 |
+
"unitless",
|
| 652 |
+
"m",
|
| 653 |
+
"m",
|
| 654 |
+
"m",
|
| 655 |
+
"unitless",
|
| 656 |
+
"unitless",
|
| 657 |
+
"unitless",
|
| 658 |
+
"unitless",
|
| 659 |
+
"m/s",
|
| 660 |
+
"m/s",
|
| 661 |
+
"rad/s",
|
| 662 |
+
"fraction 0..1, the operator's height slider after rate limiting: pelvis height target = 0.3 m + 0.44 m * value, 0 = crouched, 1 = standing",
|
| 663 |
+
"fraction 0..1",
|
| 664 |
+
"fraction 0..1",
|
| 665 |
+
"fraction 0..1",
|
| 666 |
+
"fraction 0..1",
|
| 667 |
+
"fraction -1..1, + = pushed right",
|
| 668 |
+
"fraction -1..1, + = pushed forward",
|
| 669 |
+
"fraction -1..1, + = pushed right",
|
| 670 |
+
"fraction -1..1, + = pushed forward"
|
| 671 |
+
]
|
| 672 |
+
},
|
| 673 |
+
"action.teleop.buttons": {
|
| 674 |
+
"dtype": "int64",
|
| 675 |
+
"shape": [
|
| 676 |
+
8
|
| 677 |
+
],
|
| 678 |
+
"names": [
|
| 679 |
+
"right_a",
|
| 680 |
+
"right_b",
|
| 681 |
+
"left_x",
|
| 682 |
+
"left_y",
|
| 683 |
+
"left_menu",
|
| 684 |
+
"right_menu",
|
| 685 |
+
"left_stick_click",
|
| 686 |
+
"right_stick_click"
|
| 687 |
+
],
|
| 688 |
+
"units": [
|
| 689 |
+
"bool",
|
| 690 |
+
"bool",
|
| 691 |
+
"bool",
|
| 692 |
+
"bool",
|
| 693 |
+
"bool",
|
| 694 |
+
"bool",
|
| 695 |
+
"bool",
|
| 696 |
+
"bool"
|
| 697 |
+
]
|
| 698 |
+
},
|
| 699 |
+
"observation.teleop_active": {
|
| 700 |
+
"dtype": "int64",
|
| 701 |
+
"shape": [
|
| 702 |
+
1
|
| 703 |
+
],
|
| 704 |
+
"names": null,
|
| 705 |
+
"units": [
|
| 706 |
+
"bool"
|
| 707 |
+
]
|
| 708 |
+
},
|
| 709 |
+
"observation.frame_counter": {
|
| 710 |
+
"dtype": "float64",
|
| 711 |
+
"shape": [
|
| 712 |
+
12
|
| 713 |
+
],
|
| 714 |
+
"names": [
|
| 715 |
+
"d435",
|
| 716 |
+
"d405_left",
|
| 717 |
+
"d405_left_ir1",
|
| 718 |
+
"d405_left_ir2",
|
| 719 |
+
"d405_right",
|
| 720 |
+
"d405_right_ir1",
|
| 721 |
+
"d405_right_ir2",
|
| 722 |
+
"d435_ir1",
|
| 723 |
+
"d435_ir2",
|
| 724 |
+
"d435_depth",
|
| 725 |
+
"d405_left_depth",
|
| 726 |
+
"d405_right_depth"
|
| 727 |
+
],
|
| 728 |
+
"units": [
|
| 729 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 730 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 731 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 732 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 733 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 734 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 735 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 736 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 737 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us",
|
| 738 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us, NaN on rows without a depth frame, see meta/depth.json row_mapping",
|
| 739 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us, NaN on rows without a depth frame, see meta/depth.json row_mapping",
|
| 740 |
+
"count, the RealSense hardware frame number: not contiguous on the D405 and different between its color and IR, so detect dropped frames from sensor_ts_us or frame_offset_us, NaN on rows without a depth frame, see meta/depth.json row_mapping"
|
| 741 |
+
]
|
| 742 |
+
},
|
| 743 |
+
"observation.sensor_ts_us": {
|
| 744 |
+
"dtype": "float64",
|
| 745 |
+
"shape": [
|
| 746 |
+
12
|
| 747 |
+
],
|
| 748 |
+
"names": [
|
| 749 |
+
"d435",
|
| 750 |
+
"d405_left",
|
| 751 |
+
"d405_left_ir1",
|
| 752 |
+
"d405_left_ir2",
|
| 753 |
+
"d405_right",
|
| 754 |
+
"d405_right_ir1",
|
| 755 |
+
"d405_right_ir2",
|
| 756 |
+
"d435_ir1",
|
| 757 |
+
"d435_ir2",
|
| 758 |
+
"d435_depth",
|
| 759 |
+
"d405_left_depth",
|
| 760 |
+
"d405_right_depth"
|
| 761 |
+
],
|
| 762 |
+
"units": [
|
| 763 |
+
"us",
|
| 764 |
+
"us",
|
| 765 |
+
"us",
|
| 766 |
+
"us",
|
| 767 |
+
"us",
|
| 768 |
+
"us",
|
| 769 |
+
"us",
|
| 770 |
+
"us",
|
| 771 |
+
"us",
|
| 772 |
+
"us, NaN on rows without a depth frame, see meta/depth.json row_mapping",
|
| 773 |
+
"us, NaN on rows without a depth frame, see meta/depth.json row_mapping",
|
| 774 |
+
"us, NaN on rows without a depth frame, see meta/depth.json row_mapping"
|
| 775 |
+
]
|
| 776 |
+
},
|
| 777 |
+
"observation.row_time_us": {
|
| 778 |
+
"dtype": "int64",
|
| 779 |
+
"shape": [
|
| 780 |
+
1
|
| 781 |
+
],
|
| 782 |
+
"names": null,
|
| 783 |
+
"units": [
|
| 784 |
+
"us"
|
| 785 |
+
]
|
| 786 |
+
},
|
| 787 |
+
"observation.frame_offset_us": {
|
| 788 |
+
"dtype": "float64",
|
| 789 |
+
"shape": [
|
| 790 |
+
12
|
| 791 |
+
],
|
| 792 |
+
"names": [
|
| 793 |
+
"d435",
|
| 794 |
+
"d405_left",
|
| 795 |
+
"d405_left_ir1",
|
| 796 |
+
"d405_left_ir2",
|
| 797 |
+
"d405_right",
|
| 798 |
+
"d405_right_ir1",
|
| 799 |
+
"d405_right_ir2",
|
| 800 |
+
"d435_ir1",
|
| 801 |
+
"d435_ir2",
|
| 802 |
+
"d435_depth",
|
| 803 |
+
"d405_left_depth",
|
| 804 |
+
"d405_right_depth"
|
| 805 |
+
],
|
| 806 |
+
"units": [
|
| 807 |
+
"us",
|
| 808 |
+
"us",
|
| 809 |
+
"us",
|
| 810 |
+
"us",
|
| 811 |
+
"us",
|
| 812 |
+
"us",
|
| 813 |
+
"us",
|
| 814 |
+
"us",
|
| 815 |
+
"us",
|
| 816 |
+
"us, NaN on rows without a depth frame, see meta/depth.json row_mapping",
|
| 817 |
+
"us, NaN on rows without a depth frame, see meta/depth.json row_mapping",
|
| 818 |
+
"us, NaN on rows without a depth frame, see meta/depth.json row_mapping"
|
| 819 |
+
]
|
| 820 |
+
},
|
| 821 |
+
"observation.control_offset_us": {
|
| 822 |
+
"dtype": "int64",
|
| 823 |
+
"shape": [
|
| 824 |
+
1
|
| 825 |
+
],
|
| 826 |
+
"names": null,
|
| 827 |
+
"units": [
|
| 828 |
+
"us"
|
| 829 |
+
]
|
| 830 |
+
},
|
| 831 |
+
"observation.images.d435": {
|
| 832 |
+
"dtype": "video",
|
| 833 |
+
"shape": [
|
| 834 |
+
480,
|
| 835 |
+
848,
|
| 836 |
+
3
|
| 837 |
+
],
|
| 838 |
+
"names": [
|
| 839 |
+
"height",
|
| 840 |
+
"width",
|
| 841 |
+
"channels"
|
| 842 |
+
],
|
| 843 |
+
"info": {
|
| 844 |
+
"video.codec": "av1",
|
| 845 |
+
"video.pix_fmt": "yuv420p",
|
| 846 |
+
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| 1876 |
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| 1880 |
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| 1891 |
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| 1898 |
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| 1916 |
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| 1918 |
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"source": "robot model, not measured: Unitree g1_29dof.urdf d435_joint, the head tilt set to match it, with IR1 25.04 mm to the left of the joint along the 50.09 mm IR1-to-IR2 baseline",
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| 1919 |
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| 1920 |
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| 1929 |
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| 1930 |
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| 1936 |
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| 1947 |
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| 1948 |
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| 1949 |
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| 1950 |
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| 1952 |
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| 1954 |
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| 1956 |
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},
|
| 1957 |
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| 1958 |
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|
| 1959 |
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|
| 1960 |
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|
| 1961 |
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|
| 1962 |
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|
| 1963 |
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|
| 1964 |
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|
| 1965 |
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|
| 1966 |
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|
| 1967 |
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|
| 1968 |
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|
| 1969 |
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|
| 1970 |
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|
| 1971 |
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|
| 1972 |
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|
| 1973 |
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},
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| 1974 |
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| 1975 |
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|
| 1976 |
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| 1978 |
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|
| 1979 |
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|
| 1980 |
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| 1981 |
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| 1982 |
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|
| 1983 |
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| 1985 |
+
"dtype": "int64",
|
| 1986 |
+
"shape": [
|
| 1987 |
+
1
|
| 1988 |
+
],
|
| 1989 |
+
"names": null,
|
| 1990 |
+
"units": null
|
| 1991 |
+
},
|
| 1992 |
+
"episode_index": {
|
| 1993 |
+
"dtype": "int64",
|
| 1994 |
+
"shape": [
|
| 1995 |
+
1
|
| 1996 |
+
],
|
| 1997 |
+
"names": null,
|
| 1998 |
+
"units": null
|
| 1999 |
+
},
|
| 2000 |
+
"index": {
|
| 2001 |
+
"dtype": "int64",
|
| 2002 |
+
"shape": [
|
| 2003 |
+
1
|
| 2004 |
+
],
|
| 2005 |
+
"names": null,
|
| 2006 |
+
"units": null
|
| 2007 |
+
},
|
| 2008 |
+
"task_index": {
|
| 2009 |
+
"dtype": "int64",
|
| 2010 |
+
"shape": [
|
| 2011 |
+
1
|
| 2012 |
+
],
|
| 2013 |
+
"names": null,
|
| 2014 |
+
"units": null
|
| 2015 |
+
}
|
| 2016 |
+
},
|
| 2017 |
+
"total_episodes": 1,
|
| 2018 |
+
"total_frames": 6965,
|
| 2019 |
+
"total_tasks": 1,
|
| 2020 |
+
"chunks_size": 1000,
|
| 2021 |
+
"data_files_size_in_mb": 100,
|
| 2022 |
+
"video_files_size_in_mb": 200,
|
| 2023 |
+
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 2024 |
+
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 2025 |
+
"robot_type": "unitree_g1_29dof_dex1",
|
| 2026 |
+
"splits": {
|
| 2027 |
+
"train": "0:1"
|
| 2028 |
+
}
|
| 2029 |
+
}
|
eggs/meta/lidar.json
ADDED
|
@@ -0,0 +1,105 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"device": {
|
| 3 |
+
"imu_enabled": true,
|
| 4 |
+
"ip": "192.168.123.120",
|
| 5 |
+
"model": "Livox MID-360",
|
| 6 |
+
"point_data_type": "cartesian high precision, 1 mm",
|
| 7 |
+
"serial": "47MCNBD0036132",
|
| 8 |
+
"work_mode": "normal"
|
| 9 |
+
},
|
| 10 |
+
"files": [
|
| 11 |
+
"lidar/imu-000.parquet",
|
| 12 |
+
"lidar/imu-001.parquet",
|
| 13 |
+
"lidar/imu-002.parquet",
|
| 14 |
+
"lidar/imu-003.parquet",
|
| 15 |
+
"lidar/packets-000.parquet",
|
| 16 |
+
"lidar/packets-001.parquet",
|
| 17 |
+
"lidar/packets-002.parquet",
|
| 18 |
+
"lidar/packets-003.parquet",
|
| 19 |
+
"lidar/points-000.parquet",
|
| 20 |
+
"lidar/points-001.parquet",
|
| 21 |
+
"lidar/points-002.parquet",
|
| 22 |
+
"lidar/points-003.parquet"
|
| 23 |
+
],
|
| 24 |
+
"file_seconds": 60.0,
|
| 25 |
+
"files_layout": "points-NNN, packets-NNN and imu-NNN.parquet start a new NNN every file_seconds of recording; packets first_point indexes rows of the points file with the same NNN",
|
| 26 |
+
"clocks": {
|
| 27 |
+
"lidar_ns": "the lidar's own clock, time since it powered on",
|
| 28 |
+
"host_ns": "system clock when the packet arrived, late by the network delay, usually under 1 ms, at times tens of ms",
|
| 29 |
+
"capture_host_ns": "lidar_ns mapped onto the system clock; compare capture_host_ns / 1000 with the rows' observation.row_time_us"
|
| 30 |
+
},
|
| 31 |
+
"clock_fit": {
|
| 32 |
+
"method": "line through the minimum host_ns - lidar_ns of each lidar-clock second, refitted every second",
|
| 33 |
+
"window_s": 30,
|
| 34 |
+
"outlier_ns": 1000000.0
|
| 35 |
+
},
|
| 36 |
+
"coverage": {
|
| 37 |
+
"start_us": 1791212498734562,
|
| 38 |
+
"end_us": 1791212730901228,
|
| 39 |
+
"rule": "rows whose capture time on the system clock is in [start_us, end_us): start_us is row 0's observation.row_time_us, end_us = start_us + rows / fps, one row period after the last row"
|
| 40 |
+
},
|
| 41 |
+
"tables": {
|
| 42 |
+
"imu": {
|
| 43 |
+
"acc": "m/s^2",
|
| 44 |
+
"capture_host_ns": "lidar_ns mapped onto the system clock, the clock of host_ns and of the rows' observation.row_time_us: lidar_ns + offset + drift * lidar_ns, fitted to the lower envelope of host_ns - lidar_ns over the last 30 s of lidar time; the recording keeps packets whose capture_host_ns is within the episode's rows",
|
| 45 |
+
"gyro": "rad/s",
|
| 46 |
+
"source": "Livox MID-360 built-in IMU packets",
|
| 47 |
+
"udp_cnt": "uint16 packet sequence number from the IMU packet header, wraps at 65536; a step above 1 means lost packets"
|
| 48 |
+
},
|
| 49 |
+
"packets": {
|
| 50 |
+
"capture_host_ns": "lidar_ns mapped onto the system clock, the clock of host_ns and of the rows' observation.row_time_us: lidar_ns + offset + drift * lidar_ns, fitted to the lower envelope of host_ns - lidar_ns over the last 30 s of lidar time; the recording keeps packets whose capture_host_ns is within the episode's rows",
|
| 51 |
+
"dot_num": "points the lidar sent, including no-return points not stored",
|
| 52 |
+
"frame_index": "lidar_ns / 100000000: 100 ms scan frames on the lidar clock, assigned by packet timestamp; the MID-360 reports frame_cnt 0",
|
| 53 |
+
"host_ns": "system clock at receive",
|
| 54 |
+
"lidar_ns": "packet timestamp on the lidar clock, see time_type",
|
| 55 |
+
"point_count": "rows stored in points-NNN.parquet from first_point",
|
| 56 |
+
"source": "Livox MID-360 point packet headers, one row per packet",
|
| 57 |
+
"time_interval": "0.1 us units, span of the packet's points",
|
| 58 |
+
"udp_cnt": "uint16 packet sequence number, +1 per packet, wraps at 65536; a larger step means lost packets"
|
| 59 |
+
},
|
| 60 |
+
"points": {
|
| 61 |
+
"first_point": "packets-NNN.parquet first_point indexes rows of the same file",
|
| 62 |
+
"source": "Livox MID-360 point packets, one row per returned point; no-return points (0, 0, 0) are not stored",
|
| 63 |
+
"t_ns": "lidar clock: packet timestamp + index_in_packet * time_interval * 100 / (dot_num - 1), time_interval spanning the first to the last point, index_in_packet counting the omitted points",
|
| 64 |
+
"xyz": "millimetres in the lidar frame"
|
| 65 |
+
}
|
| 66 |
+
},
|
| 67 |
+
"summary": {
|
| 68 |
+
"points": 27373795,
|
| 69 |
+
"point_packets": 483676,
|
| 70 |
+
"lost_point_packets": 0,
|
| 71 |
+
"imu_packets": 46433,
|
| 72 |
+
"lost_imu_packets": 0,
|
| 73 |
+
"imu_udp_cnt_stuck": false
|
| 74 |
+
},
|
| 75 |
+
"lidar_to_robot": {
|
| 76 |
+
"convention": "p_to = rotation * p_from + translation, a point in the lidar's point cloud frame (x_mm, y_mm, z_mm / 1000) mapped into torso_link",
|
| 77 |
+
"from": "lidar",
|
| 78 |
+
"rotation": [
|
| 79 |
+
[
|
| 80 |
+
0.999194395114446,
|
| 81 |
+
0.0,
|
| 82 |
+
-0.04013179253255968
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
0.0,
|
| 86 |
+
-1.0,
|
| 87 |
+
0.0
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
-0.04013179253255968,
|
| 91 |
+
0.0,
|
| 92 |
+
-0.999194395114446
|
| 93 |
+
]
|
| 94 |
+
],
|
| 95 |
+
"rotation_layout": "row-major 3x3, rotation[row][col]",
|
| 96 |
+
"source": "robot model, not measured: Unitree g1_29dof.urdf mid360_joint, translation and pitch, followed by a 180 deg flip about x since the MID-360 is mounted upside down and its point cloud z axis points down (its IMU reads -1 g on z)",
|
| 97 |
+
"to": "torso_link",
|
| 98 |
+
"translation": [
|
| 99 |
+
0.0002835,
|
| 100 |
+
3e-05,
|
| 101 |
+
0.40618
|
| 102 |
+
],
|
| 103 |
+
"translation_units": "meters"
|
| 104 |
+
}
|
| 105 |
+
}
|
eggs/meta/pico.json
ADDED
|
@@ -0,0 +1,408 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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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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|
|
|
|
|
|
|
|
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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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|
|
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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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|
|
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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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|
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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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|
| 1 |
+
{
|
| 2 |
+
"files": [
|
| 3 |
+
"pico/packets-000.parquet"
|
| 4 |
+
],
|
| 5 |
+
"clocks": {
|
| 6 |
+
"host_ns": "system clock when the packet was read, the clock of the rows' observation.row_time_us"
|
| 7 |
+
},
|
| 8 |
+
"coverage": {
|
| 9 |
+
"start_us": 1791212498734562,
|
| 10 |
+
"end_us": 1791212730901228,
|
| 11 |
+
"rule": "rows whose capture time on the system clock is in [start_us, end_us): start_us is row 0's observation.row_time_us, end_us = start_us + rows / fps, one row period after the last row"
|
| 12 |
+
},
|
| 13 |
+
"format": {
|
| 14 |
+
"source": "UDP packets from the PICO VR headset app (teleop-pico-app UdpSender.cs), one row per packet main received, in arrival order",
|
| 15 |
+
"sender": "sends at most 800 Hz, only while the headset and both controllers are tracked, and skips a packet identical to the previous one apart from the acceleration bytes, so a gap in host_ns means no change on the controllers rather than a lost packet",
|
| 16 |
+
"packet_bytes": 60,
|
| 17 |
+
"byte_order": "little-endian",
|
| 18 |
+
"decoded_columns": "every wire field in packet order with its wire type; null when raw is not 60 bytes",
|
| 19 |
+
"frames": {
|
| 20 |
+
"head_yaw": "origin at the headset, y up along gravity, x to the operator's right, z backward (right-handed); yaw follows the head's horizontal heading, pitch and roll of the head are removed"
|
| 21 |
+
},
|
| 22 |
+
"robot_mapping": "pico.cpp pico_pose_to_robot maps a head_yaw pose to the robot frame as (-z, -x, y) and conjugates the rotation by (0.5, 0.5, -0.5, -0.5)"
|
| 23 |
+
},
|
| 24 |
+
"columns": [
|
| 25 |
+
{
|
| 26 |
+
"name": "host_ns",
|
| 27 |
+
"dtype": "int64",
|
| 28 |
+
"nullable": false,
|
| 29 |
+
"unit": "ns",
|
| 30 |
+
"clock": "system clock (CLOCK_REALTIME), nanoseconds since the Unix epoch",
|
| 31 |
+
"description": "when main read the packet from the UDP socket on the robot; host_ns / 1000 is comparable with the rows' observation.row_time_us"
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"name": "raw",
|
| 35 |
+
"dtype": "binary",
|
| 36 |
+
"nullable": false,
|
| 37 |
+
"unit": "bytes",
|
| 38 |
+
"description": "the complete UDP payload exactly as received, 60 bytes for a well-formed packet; the decoded columns below are derived from it"
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"name": "crc_ok",
|
| 42 |
+
"dtype": "bool",
|
| 43 |
+
"nullable": false,
|
| 44 |
+
"description": "true when raw is 60 bytes and its crc byte matches the CRC of the bytes before it; the robot rejects packets for which this is false"
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"name": "buttons",
|
| 48 |
+
"dtype": "uint16",
|
| 49 |
+
"nullable": true,
|
| 50 |
+
"wire_type": "uint16, little-endian",
|
| 51 |
+
"byte_offset": 0,
|
| 52 |
+
"byte_length": 2,
|
| 53 |
+
"unit": "bitmask",
|
| 54 |
+
"decode": "bit set = pressed: 0x01 A, 0x02 B, 0x04 X, 0x08 Y, 0x10 left menu, 0x20 right menu, 0x40 left stick click, 0x80 right stick click",
|
| 55 |
+
"range": "0..255",
|
| 56 |
+
"description": "controller buttons held while the packet was built"
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"name": "left_trigger",
|
| 60 |
+
"dtype": "uint8",
|
| 61 |
+
"nullable": true,
|
| 62 |
+
"wire_type": "uint8, little-endian",
|
| 63 |
+
"byte_offset": 2,
|
| 64 |
+
"byte_length": 1,
|
| 65 |
+
"unit": "fraction",
|
| 66 |
+
"decode": "value / 255",
|
| 67 |
+
"range": "0..1",
|
| 68 |
+
"description": "left index trigger, 0 released, 1 fully pressed"
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"name": "right_trigger",
|
| 72 |
+
"dtype": "uint8",
|
| 73 |
+
"nullable": true,
|
| 74 |
+
"wire_type": "uint8, little-endian",
|
| 75 |
+
"byte_offset": 3,
|
| 76 |
+
"byte_length": 1,
|
| 77 |
+
"unit": "fraction",
|
| 78 |
+
"decode": "value / 255",
|
| 79 |
+
"range": "0..1",
|
| 80 |
+
"description": "right index trigger, 0 released, 1 fully pressed"
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"name": "left_grip",
|
| 84 |
+
"dtype": "uint8",
|
| 85 |
+
"nullable": true,
|
| 86 |
+
"wire_type": "uint8, little-endian",
|
| 87 |
+
"byte_offset": 4,
|
| 88 |
+
"byte_length": 1,
|
| 89 |
+
"unit": "fraction",
|
| 90 |
+
"decode": "value / 255",
|
| 91 |
+
"range": "0..1",
|
| 92 |
+
"description": "left grip (middle finger), 0 released, 1 fully pressed"
|
| 93 |
+
},
|
| 94 |
+
{
|
| 95 |
+
"name": "right_grip",
|
| 96 |
+
"dtype": "uint8",
|
| 97 |
+
"nullable": true,
|
| 98 |
+
"wire_type": "uint8, little-endian",
|
| 99 |
+
"byte_offset": 5,
|
| 100 |
+
"byte_length": 1,
|
| 101 |
+
"unit": "fraction",
|
| 102 |
+
"decode": "value / 255",
|
| 103 |
+
"range": "0..1",
|
| 104 |
+
"description": "right grip (middle finger), 0 released, 1 fully pressed"
|
| 105 |
+
},
|
| 106 |
+
{
|
| 107 |
+
"name": "left_stick_x",
|
| 108 |
+
"dtype": "uint8",
|
| 109 |
+
"nullable": true,
|
| 110 |
+
"wire_type": "uint8, little-endian",
|
| 111 |
+
"byte_offset": 6,
|
| 112 |
+
"byte_length": 1,
|
| 113 |
+
"unit": "fraction",
|
| 114 |
+
"decode": "value / 255 * 2 - 1",
|
| 115 |
+
"range": "-1..1",
|
| 116 |
+
"description": "left thumbstick horizontal, +1 right"
|
| 117 |
+
},
|
| 118 |
+
{
|
| 119 |
+
"name": "left_stick_y",
|
| 120 |
+
"dtype": "uint8",
|
| 121 |
+
"nullable": true,
|
| 122 |
+
"wire_type": "uint8, little-endian",
|
| 123 |
+
"byte_offset": 7,
|
| 124 |
+
"byte_length": 1,
|
| 125 |
+
"unit": "fraction",
|
| 126 |
+
"decode": "value / 255 * 2 - 1",
|
| 127 |
+
"range": "-1..1",
|
| 128 |
+
"description": "left thumbstick vertical, +1 pushed forward"
|
| 129 |
+
},
|
| 130 |
+
{
|
| 131 |
+
"name": "right_stick_x",
|
| 132 |
+
"dtype": "uint8",
|
| 133 |
+
"nullable": true,
|
| 134 |
+
"wire_type": "uint8, little-endian",
|
| 135 |
+
"byte_offset": 8,
|
| 136 |
+
"byte_length": 1,
|
| 137 |
+
"unit": "fraction",
|
| 138 |
+
"decode": "value / 255 * 2 - 1",
|
| 139 |
+
"range": "-1..1",
|
| 140 |
+
"description": "right thumbstick horizontal, +1 right"
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"name": "right_stick_y",
|
| 144 |
+
"dtype": "uint8",
|
| 145 |
+
"nullable": true,
|
| 146 |
+
"wire_type": "uint8, little-endian",
|
| 147 |
+
"byte_offset": 9,
|
| 148 |
+
"byte_length": 1,
|
| 149 |
+
"unit": "fraction",
|
| 150 |
+
"decode": "value / 255 * 2 - 1",
|
| 151 |
+
"range": "-1..1",
|
| 152 |
+
"description": "right thumbstick vertical, +1 pushed forward"
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"name": "left_hand_pos_x",
|
| 156 |
+
"dtype": "float",
|
| 157 |
+
"nullable": true,
|
| 158 |
+
"wire_type": "float32, little-endian",
|
| 159 |
+
"byte_offset": 10,
|
| 160 |
+
"byte_length": 4,
|
| 161 |
+
"unit": "m",
|
| 162 |
+
"decode": "value",
|
| 163 |
+
"frame": "head_yaw",
|
| 164 |
+
"description": "left controller position relative to the headset, x axis"
|
| 165 |
+
},
|
| 166 |
+
{
|
| 167 |
+
"name": "left_hand_pos_y",
|
| 168 |
+
"dtype": "float",
|
| 169 |
+
"nullable": true,
|
| 170 |
+
"wire_type": "float32, little-endian",
|
| 171 |
+
"byte_offset": 14,
|
| 172 |
+
"byte_length": 4,
|
| 173 |
+
"unit": "m",
|
| 174 |
+
"decode": "value",
|
| 175 |
+
"frame": "head_yaw",
|
| 176 |
+
"description": "left controller position relative to the headset, y axis"
|
| 177 |
+
},
|
| 178 |
+
{
|
| 179 |
+
"name": "left_hand_pos_z",
|
| 180 |
+
"dtype": "float",
|
| 181 |
+
"nullable": true,
|
| 182 |
+
"wire_type": "float32, little-endian",
|
| 183 |
+
"byte_offset": 18,
|
| 184 |
+
"byte_length": 4,
|
| 185 |
+
"unit": "m",
|
| 186 |
+
"decode": "value",
|
| 187 |
+
"frame": "head_yaw",
|
| 188 |
+
"description": "left controller position relative to the headset, z axis"
|
| 189 |
+
},
|
| 190 |
+
{
|
| 191 |
+
"name": "left_hand_quat_x",
|
| 192 |
+
"dtype": "uint16",
|
| 193 |
+
"nullable": true,
|
| 194 |
+
"wire_type": "uint16, little-endian",
|
| 195 |
+
"byte_offset": 22,
|
| 196 |
+
"byte_length": 2,
|
| 197 |
+
"unit": "unit quaternion component",
|
| 198 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 199 |
+
"range": "-1..1",
|
| 200 |
+
"frame": "head_yaw",
|
| 201 |
+
"description": "left controller orientation in the head_yaw frame, x component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"name": "left_hand_quat_y",
|
| 205 |
+
"dtype": "uint16",
|
| 206 |
+
"nullable": true,
|
| 207 |
+
"wire_type": "uint16, little-endian",
|
| 208 |
+
"byte_offset": 24,
|
| 209 |
+
"byte_length": 2,
|
| 210 |
+
"unit": "unit quaternion component",
|
| 211 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 212 |
+
"range": "-1..1",
|
| 213 |
+
"frame": "head_yaw",
|
| 214 |
+
"description": "left controller orientation in the head_yaw frame, y component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"name": "left_hand_quat_z",
|
| 218 |
+
"dtype": "uint16",
|
| 219 |
+
"nullable": true,
|
| 220 |
+
"wire_type": "uint16, little-endian",
|
| 221 |
+
"byte_offset": 26,
|
| 222 |
+
"byte_length": 2,
|
| 223 |
+
"unit": "unit quaternion component",
|
| 224 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 225 |
+
"range": "-1..1",
|
| 226 |
+
"frame": "head_yaw",
|
| 227 |
+
"description": "left controller orientation in the head_yaw frame, z component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 228 |
+
},
|
| 229 |
+
{
|
| 230 |
+
"name": "left_hand_quat_w",
|
| 231 |
+
"dtype": "uint16",
|
| 232 |
+
"nullable": true,
|
| 233 |
+
"wire_type": "uint16, little-endian",
|
| 234 |
+
"byte_offset": 28,
|
| 235 |
+
"byte_length": 2,
|
| 236 |
+
"unit": "unit quaternion component",
|
| 237 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 238 |
+
"range": "-1..1",
|
| 239 |
+
"frame": "head_yaw",
|
| 240 |
+
"description": "left controller orientation in the head_yaw frame, w component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"name": "right_hand_pos_x",
|
| 244 |
+
"dtype": "float",
|
| 245 |
+
"nullable": true,
|
| 246 |
+
"wire_type": "float32, little-endian",
|
| 247 |
+
"byte_offset": 30,
|
| 248 |
+
"byte_length": 4,
|
| 249 |
+
"unit": "m",
|
| 250 |
+
"decode": "value",
|
| 251 |
+
"frame": "head_yaw",
|
| 252 |
+
"description": "right controller position relative to the headset, x axis"
|
| 253 |
+
},
|
| 254 |
+
{
|
| 255 |
+
"name": "right_hand_pos_y",
|
| 256 |
+
"dtype": "float",
|
| 257 |
+
"nullable": true,
|
| 258 |
+
"wire_type": "float32, little-endian",
|
| 259 |
+
"byte_offset": 34,
|
| 260 |
+
"byte_length": 4,
|
| 261 |
+
"unit": "m",
|
| 262 |
+
"decode": "value",
|
| 263 |
+
"frame": "head_yaw",
|
| 264 |
+
"description": "right controller position relative to the headset, y axis"
|
| 265 |
+
},
|
| 266 |
+
{
|
| 267 |
+
"name": "right_hand_pos_z",
|
| 268 |
+
"dtype": "float",
|
| 269 |
+
"nullable": true,
|
| 270 |
+
"wire_type": "float32, little-endian",
|
| 271 |
+
"byte_offset": 38,
|
| 272 |
+
"byte_length": 4,
|
| 273 |
+
"unit": "m",
|
| 274 |
+
"decode": "value",
|
| 275 |
+
"frame": "head_yaw",
|
| 276 |
+
"description": "right controller position relative to the headset, z axis"
|
| 277 |
+
},
|
| 278 |
+
{
|
| 279 |
+
"name": "right_hand_quat_x",
|
| 280 |
+
"dtype": "uint16",
|
| 281 |
+
"nullable": true,
|
| 282 |
+
"wire_type": "uint16, little-endian",
|
| 283 |
+
"byte_offset": 42,
|
| 284 |
+
"byte_length": 2,
|
| 285 |
+
"unit": "unit quaternion component",
|
| 286 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 287 |
+
"range": "-1..1",
|
| 288 |
+
"frame": "head_yaw",
|
| 289 |
+
"description": "right controller orientation in the head_yaw frame, x component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 290 |
+
},
|
| 291 |
+
{
|
| 292 |
+
"name": "right_hand_quat_y",
|
| 293 |
+
"dtype": "uint16",
|
| 294 |
+
"nullable": true,
|
| 295 |
+
"wire_type": "uint16, little-endian",
|
| 296 |
+
"byte_offset": 44,
|
| 297 |
+
"byte_length": 2,
|
| 298 |
+
"unit": "unit quaternion component",
|
| 299 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 300 |
+
"range": "-1..1",
|
| 301 |
+
"frame": "head_yaw",
|
| 302 |
+
"description": "right controller orientation in the head_yaw frame, y component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"name": "right_hand_quat_z",
|
| 306 |
+
"dtype": "uint16",
|
| 307 |
+
"nullable": true,
|
| 308 |
+
"wire_type": "uint16, little-endian",
|
| 309 |
+
"byte_offset": 46,
|
| 310 |
+
"byte_length": 2,
|
| 311 |
+
"unit": "unit quaternion component",
|
| 312 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 313 |
+
"range": "-1..1",
|
| 314 |
+
"frame": "head_yaw",
|
| 315 |
+
"description": "right controller orientation in the head_yaw frame, z component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"name": "right_hand_quat_w",
|
| 319 |
+
"dtype": "uint16",
|
| 320 |
+
"nullable": true,
|
| 321 |
+
"wire_type": "uint16, little-endian",
|
| 322 |
+
"byte_offset": 48,
|
| 323 |
+
"byte_length": 2,
|
| 324 |
+
"unit": "unit quaternion component",
|
| 325 |
+
"decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm",
|
| 326 |
+
"range": "-1..1",
|
| 327 |
+
"frame": "head_yaw",
|
| 328 |
+
"description": "right controller orientation in the head_yaw frame, w component, scalar last; the sender negates z and w of the Unity (left-handed) rotation and flips the sign so that w >= 0"
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"name": "left_hand_lin_accel",
|
| 332 |
+
"dtype": "uint16",
|
| 333 |
+
"nullable": true,
|
| 334 |
+
"wire_type": "uint16, little-endian",
|
| 335 |
+
"byte_offset": 50,
|
| 336 |
+
"byte_length": 2,
|
| 337 |
+
"unit": "m/s^2",
|
| 338 |
+
"decode": "value / 65535 * 100",
|
| 339 |
+
"range": "0..100, clamped",
|
| 340 |
+
"description": "left controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps"
|
| 341 |
+
},
|
| 342 |
+
{
|
| 343 |
+
"name": "right_hand_lin_accel",
|
| 344 |
+
"dtype": "uint16",
|
| 345 |
+
"nullable": true,
|
| 346 |
+
"wire_type": "uint16, little-endian",
|
| 347 |
+
"byte_offset": 52,
|
| 348 |
+
"byte_length": 2,
|
| 349 |
+
"unit": "m/s^2",
|
| 350 |
+
"decode": "value / 65535 * 100",
|
| 351 |
+
"range": "0..100, clamped",
|
| 352 |
+
"description": "right controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps"
|
| 353 |
+
},
|
| 354 |
+
{
|
| 355 |
+
"name": "left_hand_ang_accel",
|
| 356 |
+
"dtype": "uint16",
|
| 357 |
+
"nullable": true,
|
| 358 |
+
"wire_type": "uint16, little-endian",
|
| 359 |
+
"byte_offset": 54,
|
| 360 |
+
"byte_length": 2,
|
| 361 |
+
"unit": "rad/s^2",
|
| 362 |
+
"decode": "value / 65535 * 500",
|
| 363 |
+
"range": "0..500, clamped",
|
| 364 |
+
"description": "left controller angular acceleration magnitude as reported by the PICO runtime"
|
| 365 |
+
},
|
| 366 |
+
{
|
| 367 |
+
"name": "right_hand_ang_accel",
|
| 368 |
+
"dtype": "uint16",
|
| 369 |
+
"nullable": true,
|
| 370 |
+
"wire_type": "uint16, little-endian",
|
| 371 |
+
"byte_offset": 56,
|
| 372 |
+
"byte_length": 2,
|
| 373 |
+
"unit": "rad/s^2",
|
| 374 |
+
"decode": "value / 65535 * 500",
|
| 375 |
+
"range": "0..500, clamped",
|
| 376 |
+
"description": "right controller angular acceleration magnitude as reported by the PICO runtime"
|
| 377 |
+
},
|
| 378 |
+
{
|
| 379 |
+
"name": "height",
|
| 380 |
+
"dtype": "uint8",
|
| 381 |
+
"nullable": true,
|
| 382 |
+
"wire_type": "uint8, little-endian",
|
| 383 |
+
"byte_offset": 58,
|
| 384 |
+
"byte_length": 1,
|
| 385 |
+
"unit": "fraction",
|
| 386 |
+
"decode": "value / 255",
|
| 387 |
+
"range": "0..1",
|
| 388 |
+
"description": "operator height command, 1 standing: the headset integrates the right thumbstick vertical at 0.5 per second outside a 0.15 deadzone and resets it to 1 when X is pressed; the robot scales it by PICO_HEIGHT_CMD_MAX_M = 0.74 m"
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"name": "crc",
|
| 392 |
+
"dtype": "uint8",
|
| 393 |
+
"nullable": true,
|
| 394 |
+
"wire_type": "uint8, little-endian",
|
| 395 |
+
"byte_offset": 59,
|
| 396 |
+
"byte_length": 1,
|
| 397 |
+
"unit": "checksum",
|
| 398 |
+
"decode": "low byte of the bitwise-inverted CRC-32 (reflected, polynomial 0xEDB88320, initial value 0xFFFFFFFF) over bytes 0..58",
|
| 399 |
+
"range": "0..255",
|
| 400 |
+
"description": "packet checksum as sent"
|
| 401 |
+
}
|
| 402 |
+
],
|
| 403 |
+
"summary": {
|
| 404 |
+
"packets": 16716,
|
| 405 |
+
"crc_errors": 0,
|
| 406 |
+
"wrong_size": 0
|
| 407 |
+
}
|
| 408 |
+
}
|
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