diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..24e758380b1d511e382973c2a95456269ae9b1db 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,12 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +eggs/depth/d405_left_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +eggs/depth/d405_right_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +eggs/depth/d435_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +socks/depth/d405_left_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +socks/depth/d405_right_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +socks/depth/d435_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +wipes/depth/d405_left_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +wipes/depth/d405_right_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text +wipes/depth/d435_depth/chunk-000/file-000.mov filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..16c9d0ba3756ebc318a4bd1f7ee95704a370bf8e --- /dev/null +++ b/README.md @@ -0,0 +1,91 @@ +--- +pretty_name: Rhoyn Robotics G1 Teleoperation Sample +task_categories: + - robotics +tags: + - LeRobot + - humanoid + - unitree-g1 + - teleoperation + - bimanual + - depth + - lidar +configs: + - config_name: wipes + data_files: wipes/data/*/*.parquet + - config_name: socks + data_files: socks/data/*/*.parquet + - config_name: eggs + data_files: eggs/data/*/*.parquet +--- + +# Rhoyn Robotics G1 Teleoperation Sample + +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. + +| Folder | Task | Duration | Frames | Preview | +|---|---|---|---|---| +| `wipes/` | Pull a wet wipe from the pack and wipe the table | 97 s | 2,921 | [`previews/wipes.mp4`](previews/wipes.mp4) | +| `socks/` | Pick up the two socks and pair them together | 92 s | 2,747 | [`previews/socks.mp4`](previews/socks.mp4) | +| `eggs/` | Crack eggs into the pan and scramble them | 232 s | 6,965 | — | + +The preview videos tile every camera stream, the IR and depth views, and the lidar point cloud into a single view. + +## Loading + +Each task folder is its own LeRobot dataset, so download the repo and point LeRobot at one folder: + +```python +from huggingface_hub import snapshot_download +from lerobot.datasets.lerobot_dataset import LeRobotDataset + +path = snapshot_download("rhoyn-robotics/data-sample", repo_type="dataset") +ds = LeRobotDataset("rhoyn-robotics/data-sample", root=f"{path}/wipes") +``` + +The per-frame data can also be read directly with pandas or pyarrow from `/data/chunk-000/*.parquet`. + +## Contents of each episode folder + +``` +/ +├── meta/ info.json, stats.json, tasks.parquet, episodes/, plus sidecar metadata +│ (calibration.json, depth.json, lidar.json, d435_imu.json, pico.json) +├── data/ per-frame parquet (state, actions, IMU, torques, teleop, sync info) +├── videos/ 9 AV1 video streams, one per camera / IR imager +├── depth/ lossless 16-bit depth (FFV1 .mov) for 3 cameras, at 15 fps +├── lidar/ Livox MID-360 points, raw packets, and lidar IMU +├── d435_imu/ head camera IMU +└── pico/ raw Pico VR teleop controller packets +``` + +### Cameras (`videos/`) + +| Key | Resolution | Description | +|---|---|---| +| `observation.images.d435` | 848×480 | Head RealSense D435, color | +| `observation.images.d435_ir1`, `_ir2` | 848×480 | Head D435, stereo IR | +| `observation.images.d405_left`, `d405_right` | 424×240 | Wrist RealSense D405, color | +| `observation.images.d405_{left,right}_ir1`, `_ir2` | 424×240 | Wrist D405, stereo IR | + +### Per-frame data (`data/`) + +| Key | Dim | Description | +|---|---|---| +| `observation.state` | 60 | 29 joint positions, 29 joint velocities, 2 gripper apertures | +| `observation.effort` | 31 | Measured joint torques | +| `observation.motor_temp` | 29 | Motor temperatures | +| `observation.imu.pelvis`, `observation.imu.chest` | 10 each | Quaternion, gyro, accelerometer | +| `action` | 31 | 29 joint position targets, 2 gripper aperture targets | +| `action.kp`, `action.kd`, `action.tau_ff`, `action.dq_target` | 29 each | Low-level PD gains, feedforward torque, velocity targets | +| `action.tau_requested`, `action.torque_cap`, `action.tau_commanded` | 31 each | Torque pipeline: requested, capped, commanded | +| `observation.torque_budget`, `action.torque_allowed`, `action.torque_limited` | 16 each | Arm torque-safety limiter state | +| `action.teleop` | 26 | Operator VR wrist poses, locomotion commands (vx, vy, yaw rate, height), triggers, grips, sticks | +| `action.teleop.buttons` | 8 | VR controller buttons | +| `observation.teleop_active` | 1 | Whether teleop was engaged | +| `observation.frame_counter`, `sensor_ts_us`, `frame_offset_us` | 12 each | Per-stream camera sync info | +| `observation.row_time_us`, `observation.control_offset_us` | 1 each | Row and control-loop timing | + +Full joint names for every vector are in `meta/info.json`. + +**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`). 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sha256:4053ebe98e79050e90fea935a8245240fbed3ea5f84aebbe050727b46dc83179 +size 32168235 diff --git a/eggs/meta/calibration.json b/eggs/meta/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..b11205c7fa8f4b66d316bde0c0f97b049aab968c --- /dev/null +++ b/eggs/meta/calibration.json @@ -0,0 +1,1220 @@ +{ + "d405_left_depth": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "d405_right_depth": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 15, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "d435_depth": { + "decimation": 2.0, + "depth_scale": 0.0010000000474974513, + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 213.7545166015625, + "fy": 213.7545166015625, + "height": 240, + "model": "Brown Conrady", + "ppx": 211.14247131347656, + "ppy": 118.16234588623047, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "d435_imu": { + "accel_hz": 100, + "accel_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "accel", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "firmware": "5.15.1.55", + "gyro_hz": 200, + "gyro_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "gyro", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "imu": "BMI085", + "model": "Intel RealSense D435I", + "serial": "344422072211" + }, + "lidar": { + "imu_enabled": true, + "ip": "192.168.123.120", + "lidar_to_robot": { + "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", + "from": "lidar", + "rotation": [ + [ + 0.999194395114446, + 0.0, + -0.04013179253255968 + ], + [ + 0.0, + -1.0, + 0.0 + ], + [ + -0.04013179253255968, + 0.0, + -0.999194395114446 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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)", + "to": "torso_link", + "translation": [ + 0.0002835, + 3e-05, + 0.40618 + ], + "translation_units": "meters" + }, + "model": "Livox MID-360", + "point_data_type": "cartesian high precision, 1 mm", + "serial": "47MCNBD0036132", + "work_mode": "normal" + }, + "observation.images.d405_left": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + -0.054188452661037445, + 0.05881553888320923, + -0.0003202924854122102, + 0.00020088741439394653, + -0.019861899316310883 + ], + "fx": 218.81365966796875, + "fy": 218.15673828125, + "height": 240, + "model": "Inverse Brown Conrady", + "ppx": 215.09109497070313, + "ppy": 121.45121765136719, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9999985098838806, + -4.0820068534230813e-05, + 0.0017188057536259294 + ], + [ + 4.241080750944093e-05, + 0.9999995827674866, + -0.0009254640317521989 + ], + [ + -0.0017187672201544046, + 0.0009255355689674616, + 0.9999980926513672 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 9.99999883788405e-06, + 9.999999747378752e-06, + 1.0000000656873453e-05 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_left_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_left_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.018033809959888458, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + -0.053430959582328796, + 0.05783621594309807, + 1.6788393622846343e-05, + 0.00011876612552441657, + -0.019358215853571892 + ], + "fx": 218.827392578125, + "fy": 218.1957244873047, + "height": 240, + "model": "Inverse Brown Conrady", + "ppx": 212.58233642578125, + "ppy": 118.080322265625, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9999870657920837, + 0.002029627561569214, + -0.004668358247727156 + ], + [ + -0.002033582655712962, + 0.9999975562095642, + -0.0008426257409155369 + ], + [ + 0.004666636697947979, + 0.0008521082927472889, + 0.9999887347221375 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -1.0000000656873453e-05, + -9.999999747378752e-06, + -9.936374226526823e-06 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.01799909956753254, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 604.6974487304688, + "fy": 604.4395141601563, + "height": 480, + "model": "Inverse Brown Conrady", + "ppx": 429.3679504394531, + "ppy": 241.97515869140625, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.015051440335810184, + 0.0005301740602590144, + 0.00039620933239348233 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.05008585751056671, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + } +} \ No newline at end of file diff --git a/eggs/meta/d435_imu.json b/eggs/meta/d435_imu.json new file mode 100644 index 0000000000000000000000000000000000000000..2c587b9b950292c2cee517b6a7bdf1e8d5ab58b8 --- /dev/null +++ b/eggs/meta/d435_imu.json @@ -0,0 +1,94 @@ +{ + "device": { + "accel_hz": 100, + "accel_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "accel", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "firmware": "5.15.1.55", + "gyro_hz": 200, + "gyro_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "gyro", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "imu": "BMI085", + "model": "Intel RealSense D435I", + "serial": "344422072211" + }, + "files": [ + "d435_imu/imu-000.parquet" + ], + "clocks": { + "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", + "host_ns": "system clock when the sample arrived" + }, + "coverage": { + "start_us": 1791212498734562, + "end_us": 1791212730901228, + "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" + }, + "columns": { + "calibration": "raw: the camera stores no IMU intrinsic calibration", + "frame": "D435i IMU axes, mapped into the color camera frame by meta/calibration.json d435_imu.gyro_to_color and accel_to_color", + "host_ns": "system clock at receive", + "kind": "0 = gyro, 1 = accel", + "sensor_ts_us": "camera global time, the same clock as the video frames' observation.sensor_ts_us", + "source": "Intel RealSense D435i motion module (BMI085), one row per sample", + "units": "gyro rad/s, accel m/s^2" + }, + "samples": 69704 +} \ No newline at end of file diff --git a/eggs/meta/depth.json b/eggs/meta/depth.json new file mode 100644 index 0000000000000000000000000000000000000000..91a10ee9ae22ca5a9d8ec1f3f8ea6bad3bc26ce5 --- /dev/null +++ b/eggs/meta/depth.json @@ -0,0 +1,433 @@ +{ + "fps": 15, + "row_step": 2, + "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", + "streams": { + "d435_depth": { + "path": "depth/d435_depth/chunk-000/file-000.mov", + "frames": 3483, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 0.0010000000474974513, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 2.0, + "depth_scale": 0.0010000000474974513, + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 213.7545166015625, + "fy": 213.7545166015625, + "height": 240, + "model": "Brown Conrady", + "ppx": 211.14247131347656, + "ppy": 118.16234588623047, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.17100000812206417 + ], + "max": [ + 65.53500311274547 + ], + "mean": [ + 0.5548748730436955 + ], + "std": [ + 0.2859017618929819 + ], + "count": [ + 3483 + ], + "q01": [ + 0.23283941511479508 + ], + "q10": [ + 0.3266568728882803 + ], + "q50": [ + 0.5085882688259623 + ], + "q90": [ + 0.7434453137017224 + ], + "q99": [ + 1.174403776601308 + ] + } + }, + "d405_left_depth": { + "path": "depth/d405_left_depth/chunk-000/file-000.mov", + "frames": 3483, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 9.999999747378752e-05, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.030799999221926555 + ], + "max": [ + 6.553499834444665 + ], + "mean": [ + 0.5222206419624741 + ], + "std": [ + 0.49225886286916454 + ], + "count": [ + 3483 + ], + "q01": [ + 0.05690575676434977 + ], + "q10": [ + 0.15138416901080198 + ], + "q50": [ + 0.48109407881509064 + ], + "q90": [ + 0.9228163753715971 + ], + "q99": [ + 1.315256593445582 + ] + } + }, + "d405_right_depth": { + "path": "depth/d405_right_depth/chunk-000/file-000.mov", + "frames": 3483, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 9.999999747378752e-05, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 15, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.03099999921687413 + ], + "max": [ + 6.553499834444665 + ], + "mean": [ + 0.45061934059837466 + ], + "std": [ + 0.44464750445682943 + ], + "count": [ + 3483 + ], + "q01": [ + 0.05620393691099882 + ], + "q10": [ + 0.11528594154897456 + ], + "q50": [ + 0.34915706462866114 + ], + "q90": [ + 0.7925648326169633 + ], + "q99": [ + 2.1072583936182996 + ] + } + } + } +} \ No newline at end of file diff --git a/eggs/meta/episodes/chunk-000/file-000.parquet b/eggs/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..25f374403e0368975740df97e3c266253e5fccfb --- /dev/null +++ b/eggs/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86f9189341f4e6cb235bd0d22a5a7d947f5ce760006e8cdfc2fa4f0a97cd1f56 +size 203431 diff --git a/eggs/meta/info.json b/eggs/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f0955bcdff4bd3466b568878ab9dee5485e09111 --- /dev/null +++ b/eggs/meta/info.json @@ -0,0 +1,2029 @@ +{ + "codebase_version": "v3.0", + "fps": 30, + "features": { + "observation.state": { + "dtype": "float32", + "shape": [ + 60 + ], + "names": [ + "left_hip_pitch_joint.pos", + "left_hip_roll_joint.pos", + "left_hip_yaw_joint.pos", + "left_knee_joint.pos", + "left_ankle_pitch_joint.pos", + "left_ankle_roll_joint.pos", + "right_hip_pitch_joint.pos", + "right_hip_roll_joint.pos", + "right_hip_yaw_joint.pos", + "right_knee_joint.pos", + "right_ankle_pitch_joint.pos", + "right_ankle_roll_joint.pos", + "waist_yaw_joint.pos", + "waist_roll_joint.pos", + "waist_pitch_joint.pos", + "left_shoulder_pitch_joint.pos", + "left_shoulder_roll_joint.pos", + "left_shoulder_yaw_joint.pos", + "left_elbow_joint.pos", + "left_wrist_roll_joint.pos", + "left_wrist_pitch_joint.pos", + "left_wrist_yaw_joint.pos", + "right_shoulder_pitch_joint.pos", + "right_shoulder_roll_joint.pos", + "right_shoulder_yaw_joint.pos", + "right_elbow_joint.pos", + "right_wrist_roll_joint.pos", + "right_wrist_pitch_joint.pos", + "right_wrist_yaw_joint.pos", + "left_hip_pitch_joint.vel", + "left_hip_roll_joint.vel", + "left_hip_yaw_joint.vel", + "left_knee_joint.vel", + "left_ankle_pitch_joint.vel", + "left_ankle_roll_joint.vel", + "right_hip_pitch_joint.vel", + "right_hip_roll_joint.vel", + "right_hip_yaw_joint.vel", + "right_knee_joint.vel", + "right_ankle_pitch_joint.vel", + "right_ankle_roll_joint.vel", + "waist_yaw_joint.vel", + "waist_roll_joint.vel", + "waist_pitch_joint.vel", + "left_shoulder_pitch_joint.vel", + "left_shoulder_roll_joint.vel", + "left_shoulder_yaw_joint.vel", + "left_elbow_joint.vel", + "left_wrist_roll_joint.vel", + "left_wrist_pitch_joint.vel", + "left_wrist_yaw_joint.vel", + "right_shoulder_pitch_joint.vel", + "right_shoulder_roll_joint.vel", + "right_shoulder_yaw_joint.vel", + "right_elbow_joint.vel", + "right_wrist_roll_joint.vel", + "right_wrist_pitch_joint.vel", + "right_wrist_yaw_joint.vel", + "left_hand.aperture", + "right_hand.aperture" + ], + "units": [ + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "fraction 0..1", + "fraction 0..1" + ] + }, + "observation.imu.pelvis": { + "dtype": "float32", + "shape": [ + 10 + ], + "names": [ + "quat_w", + "quat_x", + "quat_y", + "quat_z", + "gyro_x", + "gyro_y", + "gyro_z", + "acc_x", + "acc_y", + "acc_z" + ], + "units": [ + "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", + "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", + "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", + "unitless, orientation of the pelvis IMU (imu_in_pelvis), rt/lowstate in the world", + "rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", + "rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", + "rad/s, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", + "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", + "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", + "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate" + ] + }, + "observation.imu.chest": { + "dtype": "float32", + "shape": [ + 10 + ], + "names": [ + "quat_w", + "quat_x", + "quat_y", + "quat_z", + "gyro_x", + "gyro_y", + "gyro_z", + "acc_x", + "acc_y", + "acc_z" + ], + "units": [ + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message" + ] + }, + "observation.effort": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.tau", + "left_hip_roll_joint.tau", + "left_hip_yaw_joint.tau", + "left_knee_joint.tau", + "left_ankle_pitch_joint.tau", + "left_ankle_roll_joint.tau", + "right_hip_pitch_joint.tau", + "right_hip_roll_joint.tau", + "right_hip_yaw_joint.tau", + "right_knee_joint.tau", + "right_ankle_pitch_joint.tau", + "right_ankle_roll_joint.tau", + "waist_yaw_joint.tau", + "waist_roll_joint.tau", + "waist_pitch_joint.tau", + "left_shoulder_pitch_joint.tau", + "left_shoulder_roll_joint.tau", + "left_shoulder_yaw_joint.tau", + "left_elbow_joint.tau", + "left_wrist_roll_joint.tau", + "left_wrist_pitch_joint.tau", + "left_wrist_yaw_joint.tau", + "right_shoulder_pitch_joint.tau", + "right_shoulder_roll_joint.tau", + "right_shoulder_yaw_joint.tau", + "right_elbow_joint.tau", + "right_wrist_roll_joint.tau", + "right_wrist_pitch_joint.tau", + "right_wrist_yaw_joint.tau", + "left_hand.tau", + "right_hand.tau" + ], + "units": [ + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m" + ] + }, + "observation.motor_temp": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.temp", + "left_hip_roll_joint.temp", + "left_hip_yaw_joint.temp", + "left_knee_joint.temp", + "left_ankle_pitch_joint.temp", + "left_ankle_roll_joint.temp", + "right_hip_pitch_joint.temp", + "right_hip_roll_joint.temp", + "right_hip_yaw_joint.temp", + "right_knee_joint.temp", + "right_ankle_pitch_joint.temp", + "right_ankle_roll_joint.temp", + "waist_yaw_joint.temp", + "waist_roll_joint.temp", + "waist_pitch_joint.temp", + "left_shoulder_pitch_joint.temp", + "left_shoulder_roll_joint.temp", + "left_shoulder_yaw_joint.temp", + "left_elbow_joint.temp", + "left_wrist_roll_joint.temp", + "left_wrist_pitch_joint.temp", + "left_wrist_yaw_joint.temp", + "right_shoulder_pitch_joint.temp", + "right_shoulder_roll_joint.temp", + "right_shoulder_yaw_joint.temp", + "right_elbow_joint.temp", + "right_wrist_roll_joint.temp", + "right_wrist_pitch_joint.temp", + "right_wrist_yaw_joint.temp" + ], + "units": [ + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.pos", + "left_hip_roll_joint.pos", + "left_hip_yaw_joint.pos", + "left_knee_joint.pos", + "left_ankle_pitch_joint.pos", + "left_ankle_roll_joint.pos", + "right_hip_pitch_joint.pos", + "right_hip_roll_joint.pos", + "right_hip_yaw_joint.pos", + "right_knee_joint.pos", + "right_ankle_pitch_joint.pos", + "right_ankle_roll_joint.pos", + "waist_yaw_joint.pos", + "waist_roll_joint.pos", + "waist_pitch_joint.pos", + "left_shoulder_pitch_joint.pos", + "left_shoulder_roll_joint.pos", + "left_shoulder_yaw_joint.pos", + "left_elbow_joint.pos", + "left_wrist_roll_joint.pos", + "left_wrist_pitch_joint.pos", + "left_wrist_yaw_joint.pos", + "right_shoulder_pitch_joint.pos", + "right_shoulder_roll_joint.pos", + "right_shoulder_yaw_joint.pos", + "right_elbow_joint.pos", + "right_wrist_roll_joint.pos", + "right_wrist_pitch_joint.pos", + "right_wrist_yaw_joint.pos", + "left_hand.aperture", + "right_hand.aperture" + ], + "units": [ + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "fraction 0..1", + "fraction 0..1" + ] + }, + "action.kp": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.kp", + "left_hip_roll_joint.kp", + "left_hip_yaw_joint.kp", + "left_knee_joint.kp", + "left_ankle_pitch_joint.kp", + "left_ankle_roll_joint.kp", + "right_hip_pitch_joint.kp", + "right_hip_roll_joint.kp", + "right_hip_yaw_joint.kp", + "right_knee_joint.kp", + "right_ankle_pitch_joint.kp", + "right_ankle_roll_joint.kp", + "waist_yaw_joint.kp", + "waist_roll_joint.kp", + "waist_pitch_joint.kp", + "left_shoulder_pitch_joint.kp", + "left_shoulder_roll_joint.kp", + "left_shoulder_yaw_joint.kp", + "left_elbow_joint.kp", + "left_wrist_roll_joint.kp", + "left_wrist_pitch_joint.kp", + "left_wrist_yaw_joint.kp", + "right_shoulder_pitch_joint.kp", + "right_shoulder_roll_joint.kp", + "right_shoulder_yaw_joint.kp", + "right_elbow_joint.kp", + "right_wrist_roll_joint.kp", + "right_wrist_pitch_joint.kp", + "right_wrist_yaw_joint.kp" + ], + "units": [ + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad" + ] + }, + "action.kd": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.kd", + "left_hip_roll_joint.kd", + "left_hip_yaw_joint.kd", + "left_knee_joint.kd", + "left_ankle_pitch_joint.kd", + "left_ankle_roll_joint.kd", + "right_hip_pitch_joint.kd", + "right_hip_roll_joint.kd", + "right_hip_yaw_joint.kd", + "right_knee_joint.kd", + "right_ankle_pitch_joint.kd", + "right_ankle_roll_joint.kd", + "waist_yaw_joint.kd", + "waist_roll_joint.kd", + "waist_pitch_joint.kd", + "left_shoulder_pitch_joint.kd", + "left_shoulder_roll_joint.kd", + "left_shoulder_yaw_joint.kd", + "left_elbow_joint.kd", + "left_wrist_roll_joint.kd", + "left_wrist_pitch_joint.kd", + "left_wrist_yaw_joint.kd", + "right_shoulder_pitch_joint.kd", + "right_shoulder_roll_joint.kd", + "right_shoulder_yaw_joint.kd", + "right_elbow_joint.kd", + "right_wrist_roll_joint.kd", + "right_wrist_pitch_joint.kd", + "right_wrist_yaw_joint.kd" + ], + "units": [ + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad" + ] + }, + "action.tau_ff": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.tau_ff", + "left_hip_roll_joint.tau_ff", + "left_hip_yaw_joint.tau_ff", + "left_knee_joint.tau_ff", + "left_ankle_pitch_joint.tau_ff", + "left_ankle_roll_joint.tau_ff", + "right_hip_pitch_joint.tau_ff", + "right_hip_roll_joint.tau_ff", + "right_hip_yaw_joint.tau_ff", + "right_knee_joint.tau_ff", + "right_ankle_pitch_joint.tau_ff", + "right_ankle_roll_joint.tau_ff", + "waist_yaw_joint.tau_ff", + "waist_roll_joint.tau_ff", + "waist_pitch_joint.tau_ff", + "left_shoulder_pitch_joint.tau_ff", + "left_shoulder_roll_joint.tau_ff", + "left_shoulder_yaw_joint.tau_ff", + "left_elbow_joint.tau_ff", + "left_wrist_roll_joint.tau_ff", + "left_wrist_pitch_joint.tau_ff", + "left_wrist_yaw_joint.tau_ff", + "right_shoulder_pitch_joint.tau_ff", + "right_shoulder_roll_joint.tau_ff", + "right_shoulder_yaw_joint.tau_ff", + "right_elbow_joint.tau_ff", + "right_wrist_roll_joint.tau_ff", + "right_wrist_pitch_joint.tau_ff", + "right_wrist_yaw_joint.tau_ff" + ], + "units": [ + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m" + ] + }, + "action.teleop": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_wrist.x", + "left_wrist.y", + "left_wrist.z", + "left_wrist.qw", + "left_wrist.qx", + "left_wrist.qy", + "left_wrist.qz", + "right_wrist.x", + "right_wrist.y", + "right_wrist.z", + "right_wrist.qw", + "right_wrist.qx", + "right_wrist.qy", + "right_wrist.qz", + "vx", + "vy", + "yaw_rate", + "height_command", + "left_trigger", + "right_trigger", + "left_grip", + "right_grip", + "left_stick.x", + "left_stick.y", + "right_stick.x", + "right_stick.y" + ], + "units": [ + "m", + "m", + "m", + "unitless", + "unitless", + "unitless", + "unitless", + "m", + "m", + "m", + "unitless", + "unitless", + "unitless", + "unitless", + "m/s", + "m/s", + "rad/s", + "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", + "fraction 0..1", + "fraction 0..1", + "fraction 0..1", + "fraction 0..1", + "fraction -1..1, + = pushed right", + "fraction -1..1, + = pushed forward", + "fraction -1..1, + = pushed right", + "fraction -1..1, + = pushed forward" + ] + }, + "action.teleop.buttons": { + "dtype": "int64", + "shape": [ + 8 + ], + "names": [ + "right_a", + "right_b", + "left_x", + "left_y", + "left_menu", + "right_menu", + "left_stick_click", + "right_stick_click" + ], + "units": [ + "bool", + "bool", + "bool", + "bool", + "bool", + "bool", + "bool", + "bool" + ] + }, + "observation.teleop_active": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "bool" + ] + }, + "observation.frame_counter": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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" + ] + }, + "observation.sensor_ts_us": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" + ] + }, + "observation.row_time_us": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "us" + ] + }, + "observation.frame_offset_us": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" + ] + }, + "observation.control_offset_us": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "us" + ] + }, + "observation.images.d435": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": false, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "YUY2" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 604.6974487304688, + "fy": 604.4395141601563, + "height": 480, + "model": "Inverse Brown Conrady", + "ppx": 429.3679504394531, + "ppy": 241.97515869140625, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, 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"video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d405_right": { + "dtype": "video", + "shape": [ + 240, + 424, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": false, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "YUY2" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + -0.053430959582328796, + 0.05783621594309807, + 1.6788393622846343e-05, + 0.00011876612552441657, + -0.019358215853571892 + ], + "fx": 218.827392578125, + "fy": 218.1957244873047, + "height": 240, + "model": "Inverse Brown 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"video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d405_right_ir1": { + "dtype": "video", + "shape": [ + 240, + 424, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": true, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "GRAY8" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 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"info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": true, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "GRAY8" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.01799909956753254, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 240, + "video.width": 424, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d435_ir1": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": true, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "GRAY8" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d435_ir2": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": true, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "GRAY8" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.05008585751056671, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null, + "units": [ + "s" + ] + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + } + }, + "total_episodes": 1, + "total_frames": 6965, + "total_tasks": 1, + "chunks_size": 1000, + "data_files_size_in_mb": 100, + "video_files_size_in_mb": 200, + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", + "robot_type": "unitree_g1_29dof_dex1", + "splits": { + "train": "0:1" + } +} \ No newline at end of file diff --git a/eggs/meta/lidar.json b/eggs/meta/lidar.json new file mode 100644 index 0000000000000000000000000000000000000000..a990e21f416723d1dc98a32d0392079c82c4b953 --- /dev/null +++ b/eggs/meta/lidar.json @@ -0,0 +1,105 @@ +{ + "device": { + "imu_enabled": true, + "ip": "192.168.123.120", + "model": "Livox MID-360", + "point_data_type": "cartesian high precision, 1 mm", + "serial": "47MCNBD0036132", + "work_mode": "normal" + }, + "files": [ + "lidar/imu-000.parquet", + "lidar/imu-001.parquet", + "lidar/imu-002.parquet", + "lidar/imu-003.parquet", + "lidar/packets-000.parquet", + "lidar/packets-001.parquet", + "lidar/packets-002.parquet", + "lidar/packets-003.parquet", + "lidar/points-000.parquet", + "lidar/points-001.parquet", + "lidar/points-002.parquet", + "lidar/points-003.parquet" + ], + "file_seconds": 60.0, + "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", + "clocks": { + "lidar_ns": "the lidar's own clock, time since it powered on", + "host_ns": "system clock when the packet arrived, late by the network delay, usually under 1 ms, at times tens of ms", + "capture_host_ns": "lidar_ns mapped onto the system clock; compare capture_host_ns / 1000 with the rows' observation.row_time_us" + }, + "clock_fit": { + "method": "line through the minimum host_ns - lidar_ns of each lidar-clock second, refitted every second", + "window_s": 30, + "outlier_ns": 1000000.0 + }, + "coverage": { + "start_us": 1791212498734562, + "end_us": 1791212730901228, + "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" + }, + "tables": { + "imu": { + "acc": "m/s^2", + "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", + "gyro": "rad/s", + "source": "Livox MID-360 built-in IMU packets", + "udp_cnt": "uint16 packet sequence number from the IMU packet header, wraps at 65536; a step above 1 means lost packets" + }, + "packets": { + "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", + "dot_num": "points the lidar sent, including no-return points not stored", + "frame_index": "lidar_ns / 100000000: 100 ms scan frames on the lidar clock, assigned by packet timestamp; the MID-360 reports frame_cnt 0", + "host_ns": "system clock at receive", + "lidar_ns": "packet timestamp on the lidar clock, see time_type", + "point_count": "rows stored in points-NNN.parquet from first_point", + "source": "Livox MID-360 point packet headers, one row per packet", + "time_interval": "0.1 us units, span of the packet's points", + "udp_cnt": "uint16 packet sequence number, +1 per packet, wraps at 65536; a larger step means lost packets" + }, + "points": { + "first_point": "packets-NNN.parquet first_point indexes rows of the same file", + "source": "Livox MID-360 point packets, one row per returned point; no-return points (0, 0, 0) are not stored", + "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", + "xyz": "millimetres in the lidar frame" + } + }, + "summary": { + "points": 27373795, + "point_packets": 483676, + "lost_point_packets": 0, + "imu_packets": 46433, + "lost_imu_packets": 0, + "imu_udp_cnt_stuck": false + }, + "lidar_to_robot": { + "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", + "from": "lidar", + "rotation": [ + [ + 0.999194395114446, + 0.0, + -0.04013179253255968 + ], + [ + 0.0, + -1.0, + 0.0 + ], + [ + -0.04013179253255968, + 0.0, + -0.999194395114446 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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)", + "to": "torso_link", + "translation": [ + 0.0002835, + 3e-05, + 0.40618 + ], + "translation_units": "meters" + } +} \ No newline at end of file diff --git a/eggs/meta/pico.json b/eggs/meta/pico.json new file mode 100644 index 0000000000000000000000000000000000000000..e59ac66f6f669ea6fbea6fdf480b2546be60076c --- /dev/null +++ b/eggs/meta/pico.json @@ -0,0 +1,408 @@ +{ + "files": [ + "pico/packets-000.parquet" + ], + "clocks": { + "host_ns": "system clock when the packet was read, the clock of the rows' observation.row_time_us" + }, + "coverage": { + "start_us": 1791212498734562, + "end_us": 1791212730901228, + "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" + }, + "format": { + "source": "UDP packets from the PICO VR headset app (teleop-pico-app UdpSender.cs), one row per packet main received, in arrival order", + "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", + "packet_bytes": 60, + "byte_order": "little-endian", + "decoded_columns": "every wire field in packet order with its wire type; null when raw is not 60 bytes", + "frames": { + "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" + }, + "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)" + }, + "columns": [ + { + "name": "host_ns", + "dtype": "int64", + "nullable": false, + "unit": "ns", + "clock": "system clock (CLOCK_REALTIME), nanoseconds since the Unix epoch", + "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" + }, + { + "name": "raw", + "dtype": "binary", + "nullable": false, + "unit": "bytes", + "description": "the complete UDP payload exactly as received, 60 bytes for a well-formed packet; the decoded columns below are derived from it" + }, + { + "name": "crc_ok", + "dtype": "bool", + "nullable": false, + "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" + }, + { + "name": "buttons", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 0, + "byte_length": 2, + "unit": "bitmask", + "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", + "range": "0..255", + "description": "controller buttons held while the packet was built" + }, + { + "name": "left_trigger", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 2, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "left index trigger, 0 released, 1 fully pressed" + }, + { + "name": "right_trigger", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 3, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "right index trigger, 0 released, 1 fully pressed" + }, + { + "name": "left_grip", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 4, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "left grip (middle finger), 0 released, 1 fully pressed" + }, + { + "name": "right_grip", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 5, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "right grip (middle finger), 0 released, 1 fully pressed" + }, + { + "name": "left_stick_x", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 6, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "left thumbstick horizontal, +1 right" + }, + { + "name": "left_stick_y", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 7, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "left thumbstick vertical, +1 pushed forward" + }, + { + "name": "right_stick_x", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 8, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "right thumbstick horizontal, +1 right" + }, + { + "name": "right_stick_y", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 9, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "right thumbstick vertical, +1 pushed forward" + }, + { + "name": "left_hand_pos_x", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 10, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, x axis" + }, + { + "name": "left_hand_pos_y", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 14, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, y axis" + }, + { + "name": "left_hand_pos_z", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 18, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, z axis" + }, + { + "name": "left_hand_quat_x", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 22, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_y", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 24, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_z", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 26, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_w", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 28, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_pos_x", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 30, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, x axis" + }, + { + "name": "right_hand_pos_y", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 34, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, y axis" + }, + { + "name": "right_hand_pos_z", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 38, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, z axis" + }, + { + "name": "right_hand_quat_x", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 42, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_y", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 44, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_z", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 46, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_w", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 48, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_lin_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 50, + "byte_length": 2, + "unit": "m/s^2", + "decode": "value / 65535 * 100", + "range": "0..100, clamped", + "description": "left controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps" + }, + { + "name": "right_hand_lin_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 52, + "byte_length": 2, + "unit": "m/s^2", + "decode": "value / 65535 * 100", + "range": "0..100, clamped", + "description": "right controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps" + }, + { + "name": "left_hand_ang_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 54, + "byte_length": 2, + "unit": "rad/s^2", + "decode": "value / 65535 * 500", + "range": "0..500, clamped", + "description": "left controller angular acceleration magnitude as reported by the PICO runtime" + }, + { + "name": "right_hand_ang_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 56, + "byte_length": 2, + "unit": "rad/s^2", + "decode": "value / 65535 * 500", + "range": "0..500, clamped", + "description": "right controller angular acceleration magnitude as reported by the PICO runtime" + }, + { + "name": "height", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 58, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "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" + }, + { + "name": "crc", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 59, + "byte_length": 1, + "unit": "checksum", + "decode": "low byte of the bitwise-inverted CRC-32 (reflected, polynomial 0xEDB88320, initial value 0xFFFFFFFF) over bytes 0..58", + "range": "0..255", + "description": "packet checksum as sent" + } + ], + "summary": { + "packets": 16716, + "crc_errors": 0, + "wrong_size": 0 + } +} \ No newline at end of file diff --git a/eggs/meta/stats.json b/eggs/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d103c817297958dac2daae7eba2a28df8e1dab89 --- /dev/null +++ b/eggs/meta/stats.json @@ -0,0 +1,4954 @@ +{ + 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"ppx": 211.14247131347656, + "ppy": 118.16234588623047, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "d435_imu": { + "accel_hz": 100, + "accel_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "accel", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "firmware": "5.15.1.55", + "gyro_hz": 200, + "gyro_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "gyro", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "imu": "BMI085", + "model": "Intel RealSense D435I", + "serial": "344422072211" + }, + "lidar": { + "imu_enabled": true, + "ip": "192.168.123.120", + "lidar_to_robot": { + "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", + "from": "lidar", + "rotation": [ + [ + 0.999194395114446, + 0.0, + -0.04013179253255968 + ], + [ + 0.0, + -1.0, + 0.0 + ], + [ + -0.04013179253255968, + 0.0, + -0.999194395114446 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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)", + "to": "torso_link", + "translation": [ + 0.0002835, + 3e-05, + 0.40618 + ], + "translation_units": "meters" + }, + "model": "Livox MID-360", + "point_data_type": "cartesian high precision, 1 mm", + "serial": "47MCNBD0036132", + "work_mode": "normal" + }, + "observation.images.d405_left": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + -0.054188452661037445, + 0.05881553888320923, + -0.0003202924854122102, + 0.00020088741439394653, + -0.019861899316310883 + ], + "fx": 218.81365966796875, + "fy": 218.15673828125, + "height": 240, + "model": "Inverse Brown Conrady", + "ppx": 215.09109497070313, + "ppy": 121.45121765136719, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9999985098838806, + -4.0820068534230813e-05, + 0.0017188057536259294 + ], + [ + 4.241080750944093e-05, + 0.9999995827674866, + -0.0009254640317521989 + ], + [ + -0.0017187672201544046, + 0.0009255355689674616, + 0.9999980926513672 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 9.99999883788405e-06, + 9.999999747378752e-06, + 1.0000000656873453e-05 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_left_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_left_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.018033809959888458, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + -0.053430959582328796, + 0.05783621594309807, + 1.6788393622846343e-05, + 0.00011876612552441657, + -0.019358215853571892 + ], + "fx": 218.827392578125, + "fy": 218.1957244873047, + "height": 240, + "model": "Inverse Brown Conrady", + "ppx": 212.58233642578125, + "ppy": 118.080322265625, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9999870657920837, + 0.002029627561569214, + -0.004668358247727156 + ], + [ + -0.002033582655712962, + 0.9999975562095642, + -0.0008426257409155369 + ], + [ + 0.004666636697947979, + 0.0008521082927472889, + 0.9999887347221375 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -1.0000000656873453e-05, + -9.999999747378752e-06, + -9.936374226526823e-06 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.01799909956753254, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 604.6974487304688, + "fy": 604.4395141601563, + "height": 480, + "model": "Inverse Brown Conrady", + "ppx": 429.3679504394531, + "ppy": 241.97515869140625, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.015051440335810184, + 0.0005301740602590144, + 0.00039620933239348233 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.05008585751056671, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + } +} \ No newline at end of file diff --git a/socks/meta/d435_imu.json b/socks/meta/d435_imu.json new file mode 100644 index 0000000000000000000000000000000000000000..63c60a42250dcfc72d60c51ec5dcbf0667643b37 --- /dev/null +++ b/socks/meta/d435_imu.json @@ -0,0 +1,94 @@ +{ + "device": { + "accel_hz": 100, + "accel_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "accel", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "firmware": "5.15.1.55", + "gyro_hz": 200, + "gyro_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "gyro", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "imu": "BMI085", + "model": "Intel RealSense D435I", + "serial": "344422072211" + }, + "files": [ + "d435_imu/imu-000.parquet" + ], + "clocks": { + "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", + "host_ns": "system clock when the sample arrived" + }, + "coverage": { + "start_us": 1791386981322739, + "end_us": 1791387072889405, + "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" + }, + "columns": { + "calibration": "raw: the camera stores no IMU intrinsic calibration", + "frame": "D435i IMU axes, mapped into the color camera frame by meta/calibration.json d435_imu.gyro_to_color and accel_to_color", + "host_ns": "system clock at receive", + "kind": "0 = gyro, 1 = accel", + "sensor_ts_us": "camera global time, the same clock as the video frames' observation.sensor_ts_us", + "source": "Intel RealSense D435i motion module (BMI085), one row per sample", + "units": "gyro rad/s, accel m/s^2" + }, + "samples": 27491 +} \ No newline at end of file diff --git a/socks/meta/depth.json b/socks/meta/depth.json new file mode 100644 index 0000000000000000000000000000000000000000..d546a06edde08aa2854a927e9823b0d665d4f862 --- /dev/null +++ b/socks/meta/depth.json @@ -0,0 +1,433 @@ +{ + "fps": 15, + "row_step": 2, + "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", + "streams": { + "d435_depth": { + "path": "depth/d435_depth/chunk-000/file-000.mov", + "frames": 1374, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 0.0010000000474974513, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 2.0, + "depth_scale": 0.0010000000474974513, + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 213.7545166015625, + "fy": 213.7545166015625, + "height": 240, + "model": "Brown Conrady", + "ppx": 211.14247131347656, + "ppy": 118.16234588623047, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.17100000812206417 + ], + "max": [ + 65.53500311274547 + ], + "mean": [ + 0.6985936603528272 + ], + "std": [ + 0.3920561463988334 + ], + "count": [ + 1374 + ], + "q01": [ + 0.2445966358417641 + ], + "q10": [ + 0.3280283977390943 + ], + "q50": [ + 0.5845344230136742 + ], + "q90": [ + 1.1443663685079872 + ], + "q99": [ + 1.9021529810431508 + ] + } + }, + "d405_left_depth": { + "path": "depth/d405_left_depth/chunk-000/file-000.mov", + "frames": 1374, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 9.999999747378752e-05, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.030899999219400343 + ], + "max": [ + 6.553499834444665 + ], + "mean": [ + 0.9185364793218946 + ], + "std": [ + 1.242526698567385 + ], + "count": [ + 1374 + ], + "q01": [ + 0.0523013054336981 + ], + "q10": [ + 0.08747233343185849 + ], + "q50": [ + 0.2923352183209895 + ], + "q90": [ + 2.57500605438525 + ], + "q99": [ + 6.552750620938702 + ] + } + }, + "d405_right_depth": { + "path": "depth/d405_right_depth/chunk-000/file-000.mov", + "frames": 1374, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 9.999999747378752e-05, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 15, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.03099999921687413 + ], + "max": [ + 6.553499834444665 + ], + "mean": [ + 0.631511024814871 + ], + "std": [ + 0.8870135399476736 + ], + "count": [ + 1374 + ], + "q01": [ + 0.054815156501133076 + ], + "q10": [ + 0.0930796186744506 + ], + "q50": [ + 0.265463025721033 + ], + "q90": [ + 1.9728364419990032 + ], + "q99": [ + 3.6555621638912594 + ] + } + } + } +} \ No newline at end of file diff --git a/socks/meta/episodes/chunk-000/file-000.parquet b/socks/meta/episodes/chunk-000/file-000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e4fafada26d83faf163ded795d4840c03a4af154 --- /dev/null +++ b/socks/meta/episodes/chunk-000/file-000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:947746f7f9e7fe5c9dd2d73711499e0dc92502a1740a38e36adaf00b84bddefc +size 246315 diff --git a/socks/meta/info.json b/socks/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..419f5e42f519b579c53b0029fa18b2b904b77723 --- /dev/null +++ b/socks/meta/info.json @@ -0,0 +1,2439 @@ +{ + "codebase_version": "v3.0", + "fps": 30, + "features": { + "observation.state": { + "dtype": "float32", + "shape": [ + 60 + ], + "names": [ + "left_hip_pitch_joint.pos", + "left_hip_roll_joint.pos", + "left_hip_yaw_joint.pos", + "left_knee_joint.pos", + "left_ankle_pitch_joint.pos", + "left_ankle_roll_joint.pos", + "right_hip_pitch_joint.pos", + "right_hip_roll_joint.pos", + "right_hip_yaw_joint.pos", + "right_knee_joint.pos", + "right_ankle_pitch_joint.pos", + "right_ankle_roll_joint.pos", + "waist_yaw_joint.pos", + "waist_roll_joint.pos", + "waist_pitch_joint.pos", + "left_shoulder_pitch_joint.pos", + "left_shoulder_roll_joint.pos", + "left_shoulder_yaw_joint.pos", + "left_elbow_joint.pos", + "left_wrist_roll_joint.pos", + "left_wrist_pitch_joint.pos", + "left_wrist_yaw_joint.pos", + "right_shoulder_pitch_joint.pos", + "right_shoulder_roll_joint.pos", + "right_shoulder_yaw_joint.pos", + "right_elbow_joint.pos", + "right_wrist_roll_joint.pos", + "right_wrist_pitch_joint.pos", + "right_wrist_yaw_joint.pos", + "left_hip_pitch_joint.vel", + "left_hip_roll_joint.vel", + "left_hip_yaw_joint.vel", + "left_knee_joint.vel", + "left_ankle_pitch_joint.vel", + "left_ankle_roll_joint.vel", + "right_hip_pitch_joint.vel", + "right_hip_roll_joint.vel", + "right_hip_yaw_joint.vel", + "right_knee_joint.vel", + "right_ankle_pitch_joint.vel", + "right_ankle_roll_joint.vel", + "waist_yaw_joint.vel", + "waist_roll_joint.vel", + "waist_pitch_joint.vel", + "left_shoulder_pitch_joint.vel", + "left_shoulder_roll_joint.vel", + "left_shoulder_yaw_joint.vel", + "left_elbow_joint.vel", + "left_wrist_roll_joint.vel", + "left_wrist_pitch_joint.vel", + "left_wrist_yaw_joint.vel", + "right_shoulder_pitch_joint.vel", + "right_shoulder_roll_joint.vel", + "right_shoulder_yaw_joint.vel", + "right_elbow_joint.vel", + "right_wrist_roll_joint.vel", + "right_wrist_pitch_joint.vel", + "right_wrist_yaw_joint.vel", + "left_hand.aperture", + "right_hand.aperture" + ], + "units": [ + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + 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+ "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate", + "m/s^2, in the frame of the pelvis IMU (imu_in_pelvis), rt/lowstate" + ] + }, + "observation.imu.chest": { + "dtype": "float32", + "shape": [ + 10 + ], + "names": [ + "quat_w", + "quat_x", + "quat_y", + "quat_z", + "gyro_x", + "gyro_y", + "gyro_z", + "acc_x", + "acc_y", + "acc_z" + ], + "units": [ + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "unitless, orientation of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message in the world", + "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "rad/s, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message", + "m/s^2, in the frame of the chest IMU (imu_in_torso on torso_link), rt/secondary_imu; NaN until its first message" + ] + }, + "observation.effort": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.tau", + "left_hip_roll_joint.tau", + "left_hip_yaw_joint.tau", + "left_knee_joint.tau", + "left_ankle_pitch_joint.tau", + "left_ankle_roll_joint.tau", + "right_hip_pitch_joint.tau", + "right_hip_roll_joint.tau", + "right_hip_yaw_joint.tau", + "right_knee_joint.tau", + "right_ankle_pitch_joint.tau", + "right_ankle_roll_joint.tau", + "waist_yaw_joint.tau", + "waist_roll_joint.tau", + "waist_pitch_joint.tau", + "left_shoulder_pitch_joint.tau", + "left_shoulder_roll_joint.tau", + "left_shoulder_yaw_joint.tau", + "left_elbow_joint.tau", + "left_wrist_roll_joint.tau", + "left_wrist_pitch_joint.tau", + "left_wrist_yaw_joint.tau", + "right_shoulder_pitch_joint.tau", + "right_shoulder_roll_joint.tau", + "right_shoulder_yaw_joint.tau", + "right_elbow_joint.tau", + "right_wrist_roll_joint.tau", + "right_wrist_pitch_joint.tau", + "right_wrist_yaw_joint.tau", + "left_hand.tau", + "right_hand.tau" + ], + "units": [ + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m" + ] + }, + "observation.motor_temp": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.temp", + "left_hip_roll_joint.temp", + "left_hip_yaw_joint.temp", + "left_knee_joint.temp", + "left_ankle_pitch_joint.temp", + "left_ankle_roll_joint.temp", + "right_hip_pitch_joint.temp", + "right_hip_roll_joint.temp", + "right_hip_yaw_joint.temp", + "right_knee_joint.temp", + "right_ankle_pitch_joint.temp", + "right_ankle_roll_joint.temp", + "waist_yaw_joint.temp", + "waist_roll_joint.temp", + "waist_pitch_joint.temp", + "left_shoulder_pitch_joint.temp", + "left_shoulder_roll_joint.temp", + "left_shoulder_yaw_joint.temp", + "left_elbow_joint.temp", + "left_wrist_roll_joint.temp", + "left_wrist_pitch_joint.temp", + "left_wrist_yaw_joint.temp", + "right_shoulder_pitch_joint.temp", + "right_shoulder_roll_joint.temp", + "right_shoulder_yaw_joint.temp", + "right_elbow_joint.temp", + "right_wrist_roll_joint.temp", + "right_wrist_pitch_joint.temp", + "right_wrist_yaw_joint.temp" + ], + "units": [ + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC", + "degC" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.pos", + "left_hip_roll_joint.pos", + "left_hip_yaw_joint.pos", + "left_knee_joint.pos", + "left_ankle_pitch_joint.pos", + "left_ankle_roll_joint.pos", + "right_hip_pitch_joint.pos", + "right_hip_roll_joint.pos", + "right_hip_yaw_joint.pos", + "right_knee_joint.pos", + "right_ankle_pitch_joint.pos", + "right_ankle_roll_joint.pos", + "waist_yaw_joint.pos", + "waist_roll_joint.pos", + "waist_pitch_joint.pos", + "left_shoulder_pitch_joint.pos", + "left_shoulder_roll_joint.pos", + "left_shoulder_yaw_joint.pos", + "left_elbow_joint.pos", + "left_wrist_roll_joint.pos", + "left_wrist_pitch_joint.pos", + "left_wrist_yaw_joint.pos", + "right_shoulder_pitch_joint.pos", + "right_shoulder_roll_joint.pos", + "right_shoulder_yaw_joint.pos", + "right_elbow_joint.pos", + "right_wrist_roll_joint.pos", + "right_wrist_pitch_joint.pos", + "right_wrist_yaw_joint.pos", + "left_hand.aperture", + "right_hand.aperture" + ], + "units": [ + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "fraction 0..1", + "fraction 0..1" + ] + }, + "action.kp": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.kp", + "left_hip_roll_joint.kp", + "left_hip_yaw_joint.kp", + "left_knee_joint.kp", + "left_ankle_pitch_joint.kp", + "left_ankle_roll_joint.kp", + "right_hip_pitch_joint.kp", + "right_hip_roll_joint.kp", + "right_hip_yaw_joint.kp", + "right_knee_joint.kp", + "right_ankle_pitch_joint.kp", + "right_ankle_roll_joint.kp", + "waist_yaw_joint.kp", + "waist_roll_joint.kp", + "waist_pitch_joint.kp", + "left_shoulder_pitch_joint.kp", + "left_shoulder_roll_joint.kp", + "left_shoulder_yaw_joint.kp", + "left_elbow_joint.kp", + "left_wrist_roll_joint.kp", + "left_wrist_pitch_joint.kp", + "left_wrist_yaw_joint.kp", + "right_shoulder_pitch_joint.kp", + "right_shoulder_roll_joint.kp", + "right_shoulder_yaw_joint.kp", + "right_elbow_joint.kp", + "right_wrist_roll_joint.kp", + "right_wrist_pitch_joint.kp", + "right_wrist_yaw_joint.kp" + ], + "units": [ + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad", + "N*m/rad" + ] + }, + "action.kd": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.kd", + "left_hip_roll_joint.kd", + "left_hip_yaw_joint.kd", + "left_knee_joint.kd", + "left_ankle_pitch_joint.kd", + "left_ankle_roll_joint.kd", + "right_hip_pitch_joint.kd", + "right_hip_roll_joint.kd", + "right_hip_yaw_joint.kd", + "right_knee_joint.kd", + "right_ankle_pitch_joint.kd", + "right_ankle_roll_joint.kd", + "waist_yaw_joint.kd", + "waist_roll_joint.kd", + "waist_pitch_joint.kd", + "left_shoulder_pitch_joint.kd", + "left_shoulder_roll_joint.kd", + "left_shoulder_yaw_joint.kd", + "left_elbow_joint.kd", + "left_wrist_roll_joint.kd", + "left_wrist_pitch_joint.kd", + "left_wrist_yaw_joint.kd", + "right_shoulder_pitch_joint.kd", + "right_shoulder_roll_joint.kd", + "right_shoulder_yaw_joint.kd", + "right_elbow_joint.kd", + "right_wrist_roll_joint.kd", + "right_wrist_pitch_joint.kd", + "right_wrist_yaw_joint.kd" + ], + "units": [ + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad", + "N*m*s/rad" + ] + }, + "action.tau_ff": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.tau_ff", + "left_hip_roll_joint.tau_ff", + "left_hip_yaw_joint.tau_ff", + "left_knee_joint.tau_ff", + "left_ankle_pitch_joint.tau_ff", + "left_ankle_roll_joint.tau_ff", + "right_hip_pitch_joint.tau_ff", + "right_hip_roll_joint.tau_ff", + "right_hip_yaw_joint.tau_ff", + "right_knee_joint.tau_ff", + "right_ankle_pitch_joint.tau_ff", + "right_ankle_roll_joint.tau_ff", + "waist_yaw_joint.tau_ff", + "waist_roll_joint.tau_ff", + "waist_pitch_joint.tau_ff", + "left_shoulder_pitch_joint.tau_ff", + "left_shoulder_roll_joint.tau_ff", + "left_shoulder_yaw_joint.tau_ff", + "left_elbow_joint.tau_ff", + "left_wrist_roll_joint.tau_ff", + "left_wrist_pitch_joint.tau_ff", + "left_wrist_yaw_joint.tau_ff", + "right_shoulder_pitch_joint.tau_ff", + "right_shoulder_roll_joint.tau_ff", + "right_shoulder_yaw_joint.tau_ff", + "right_elbow_joint.tau_ff", + "right_wrist_roll_joint.tau_ff", + "right_wrist_pitch_joint.tau_ff", + "right_wrist_yaw_joint.tau_ff" + ], + "units": [ + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m", + "N*m" + ] + }, + "action.dq_target": { + "dtype": "float32", + "shape": [ + 29 + ], + "names": [ + "left_hip_pitch_joint.dq_target", + "left_hip_roll_joint.dq_target", + "left_hip_yaw_joint.dq_target", + "left_knee_joint.dq_target", + "left_ankle_pitch_joint.dq_target", + "left_ankle_roll_joint.dq_target", + "right_hip_pitch_joint.dq_target", + "right_hip_roll_joint.dq_target", + "right_hip_yaw_joint.dq_target", + "right_knee_joint.dq_target", + "right_ankle_pitch_joint.dq_target", + "right_ankle_roll_joint.dq_target", + "waist_yaw_joint.dq_target", + "waist_roll_joint.dq_target", + "waist_pitch_joint.dq_target", + "left_shoulder_pitch_joint.dq_target", + "left_shoulder_roll_joint.dq_target", + "left_shoulder_yaw_joint.dq_target", + "left_elbow_joint.dq_target", + "left_wrist_roll_joint.dq_target", + "left_wrist_pitch_joint.dq_target", + "left_wrist_yaw_joint.dq_target", + "right_shoulder_pitch_joint.dq_target", + "right_shoulder_roll_joint.dq_target", + "right_shoulder_yaw_joint.dq_target", + "right_elbow_joint.dq_target", + "right_wrist_roll_joint.dq_target", + "right_wrist_pitch_joint.dq_target", + "right_wrist_yaw_joint.dq_target" + ], + "units": [ + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s" + ] + }, + "action.tau_requested": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.tau_requested", + "left_hip_roll_joint.tau_requested", + "left_hip_yaw_joint.tau_requested", + "left_knee_joint.tau_requested", + "left_ankle_pitch_joint.tau_requested", + "left_ankle_roll_joint.tau_requested", + "right_hip_pitch_joint.tau_requested", + "right_hip_roll_joint.tau_requested", + "right_hip_yaw_joint.tau_requested", + "right_knee_joint.tau_requested", + "right_ankle_pitch_joint.tau_requested", + "right_ankle_roll_joint.tau_requested", + "waist_yaw_joint.tau_requested", + "waist_roll_joint.tau_requested", + "waist_pitch_joint.tau_requested", + "left_shoulder_pitch_joint.tau_requested", + "left_shoulder_roll_joint.tau_requested", + "left_shoulder_yaw_joint.tau_requested", + "left_elbow_joint.tau_requested", + "left_wrist_roll_joint.tau_requested", + "left_wrist_pitch_joint.tau_requested", + "left_wrist_yaw_joint.tau_requested", + "right_shoulder_pitch_joint.tau_requested", + "right_shoulder_roll_joint.tau_requested", + "right_shoulder_yaw_joint.tau_requested", + "right_elbow_joint.tau_requested", + "right_wrist_roll_joint.tau_requested", + "right_wrist_pitch_joint.tau_requested", + "right_wrist_yaw_joint.tau_requested", + "left_hand.tau_requested", + "right_hand.tau_requested" + ], + "units": [ + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state" + ] + }, + "action.torque_cap": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.torque_cap", + "left_hip_roll_joint.torque_cap", + "left_hip_yaw_joint.torque_cap", + "left_knee_joint.torque_cap", + "left_ankle_pitch_joint.torque_cap", + "left_ankle_roll_joint.torque_cap", + "right_hip_pitch_joint.torque_cap", + "right_hip_roll_joint.torque_cap", + "right_hip_yaw_joint.torque_cap", + "right_knee_joint.torque_cap", + "right_ankle_pitch_joint.torque_cap", + "right_ankle_roll_joint.torque_cap", + "waist_yaw_joint.torque_cap", + "waist_roll_joint.torque_cap", + "waist_pitch_joint.torque_cap", + "left_shoulder_pitch_joint.torque_cap", + "left_shoulder_roll_joint.torque_cap", + "left_shoulder_yaw_joint.torque_cap", + "left_elbow_joint.torque_cap", + "left_wrist_roll_joint.torque_cap", + "left_wrist_pitch_joint.torque_cap", + "left_wrist_yaw_joint.torque_cap", + "right_shoulder_pitch_joint.torque_cap", + "right_shoulder_roll_joint.torque_cap", + "right_shoulder_yaw_joint.torque_cap", + "right_elbow_joint.torque_cap", + "right_wrist_roll_joint.torque_cap", + "right_wrist_pitch_joint.torque_cap", + "right_wrist_yaw_joint.torque_cap", + "left_hand.torque_cap", + "right_hand.torque_cap" + ], + "units": [ + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped" + ] + }, + "action.tau_commanded": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.tau_commanded", + "left_hip_roll_joint.tau_commanded", + "left_hip_yaw_joint.tau_commanded", + "left_knee_joint.tau_commanded", + "left_ankle_pitch_joint.tau_commanded", + "left_ankle_roll_joint.tau_commanded", + "right_hip_pitch_joint.tau_commanded", + "right_hip_roll_joint.tau_commanded", + "right_hip_yaw_joint.tau_commanded", + "right_knee_joint.tau_commanded", + "right_ankle_pitch_joint.tau_commanded", + "right_ankle_roll_joint.tau_commanded", + "waist_yaw_joint.tau_commanded", + "waist_roll_joint.tau_commanded", + "waist_pitch_joint.tau_commanded", + "left_shoulder_pitch_joint.tau_commanded", + "left_shoulder_roll_joint.tau_commanded", + "left_shoulder_yaw_joint.tau_commanded", + "left_elbow_joint.tau_commanded", + "left_wrist_roll_joint.tau_commanded", + "left_wrist_pitch_joint.tau_commanded", + "left_wrist_yaw_joint.tau_commanded", + "right_shoulder_pitch_joint.tau_commanded", + "right_shoulder_roll_joint.tau_commanded", + "right_shoulder_yaw_joint.tau_commanded", + "right_elbow_joint.tau_commanded", + "right_wrist_roll_joint.tau_commanded", + "right_wrist_pitch_joint.tau_commanded", + "right_wrist_yaw_joint.tau_commanded", + "left_hand.tau_commanded", + "right_hand.tau_commanded" + ], + "units": [ + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state" + ] + }, + "observation.torque_budget": { + "dtype": "float32", + "shape": [ + 16 + ], + "names": [ + "left_shoulder_pitch_joint.torque_budget", + "left_shoulder_roll_joint.torque_budget", + "left_shoulder_yaw_joint.torque_budget", + "left_elbow_joint.torque_budget", + "left_wrist_roll_joint.torque_budget", + "left_wrist_pitch_joint.torque_budget", + "left_wrist_yaw_joint.torque_budget", + "right_shoulder_pitch_joint.torque_budget", + "right_shoulder_roll_joint.torque_budget", + "right_shoulder_yaw_joint.torque_budget", + "right_elbow_joint.torque_budget", + "right_wrist_roll_joint.torque_budget", + "right_wrist_pitch_joint.torque_budget", + "right_wrist_yaw_joint.torque_budget", + "left_hand.torque_budget", + "right_hand.torque_budget" + ], + "units": [ + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state" + ] + }, + "action.torque_allowed": { + "dtype": "float32", + "shape": [ + 16 + ], + "names": [ + "left_shoulder_pitch_joint.torque_allowed", + "left_shoulder_roll_joint.torque_allowed", + "left_shoulder_yaw_joint.torque_allowed", + "left_elbow_joint.torque_allowed", + "left_wrist_roll_joint.torque_allowed", + "left_wrist_pitch_joint.torque_allowed", + "left_wrist_yaw_joint.torque_allowed", + "right_shoulder_pitch_joint.torque_allowed", + "right_shoulder_roll_joint.torque_allowed", + "right_shoulder_yaw_joint.torque_allowed", + "right_elbow_joint.torque_allowed", + "right_wrist_roll_joint.torque_allowed", + "right_wrist_pitch_joint.torque_allowed", + "right_wrist_yaw_joint.torque_allowed", + "left_hand.torque_allowed", + "right_hand.torque_allowed" + ], + "units": [ + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state" + ] + }, + "action.torque_limited": { + "dtype": "int64", + "shape": [ + 16 + ], + "names": [ + "left_shoulder_pitch_joint.torque_limited", + "left_shoulder_roll_joint.torque_limited", + "left_shoulder_yaw_joint.torque_limited", + "left_elbow_joint.torque_limited", + "left_wrist_roll_joint.torque_limited", + "left_wrist_pitch_joint.torque_limited", + "left_wrist_yaw_joint.torque_limited", + "right_shoulder_pitch_joint.torque_limited", + "right_shoulder_roll_joint.torque_limited", + "right_shoulder_yaw_joint.torque_limited", + "right_elbow_joint.torque_limited", + "right_wrist_roll_joint.torque_limited", + "right_wrist_pitch_joint.torque_limited", + "right_wrist_yaw_joint.torque_limited", + "left_hand.torque_limited", + "right_hand.torque_limited" + ], + "units": [ + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)" + ] + }, + "action.teleop": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_wrist.x", + "left_wrist.y", + "left_wrist.z", + "left_wrist.qw", + "left_wrist.qx", + "left_wrist.qy", + "left_wrist.qz", + "right_wrist.x", + "right_wrist.y", + "right_wrist.z", + "right_wrist.qw", + "right_wrist.qx", + "right_wrist.qy", + "right_wrist.qz", + "vx", + "vy", + "yaw_rate", + "height_command", + "left_trigger", + "right_trigger", + "left_grip", + "right_grip", + "left_stick.x", + "left_stick.y", + "right_stick.x", + "right_stick.y" + ], + "units": [ + "m", + "m", + "m", + "unitless", + "unitless", + "unitless", + "unitless", + "m", + "m", + "m", + "unitless", + "unitless", + "unitless", + "unitless", + "m/s", + "m/s", + "rad/s", + "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", + "fraction 0..1", + "fraction 0..1", + "fraction 0..1", + "fraction 0..1", + "fraction -1..1, + = pushed right", + "fraction -1..1, + = pushed forward", + "fraction -1..1, + = pushed right", + "fraction -1..1, + = pushed forward" + ] + }, + "action.teleop.buttons": { + "dtype": "int64", + "shape": [ + 8 + ], + "names": [ + "right_a", + "right_b", + "left_x", + "left_y", + "left_menu", + "right_menu", + "left_stick_click", + "right_stick_click" + ], + "units": [ + "bool", + "bool", + "bool", + "bool", + "bool", + "bool", + "bool", + "bool" + ] + }, + "observation.teleop_active": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "bool" + ] + }, + "observation.frame_counter": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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" + ] + }, + "observation.sensor_ts_us": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" + ] + }, + "observation.row_time_us": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "us" + ] + }, + "observation.frame_offset_us": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" + ] + }, + "observation.control_offset_us": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "us" + ] + }, + "observation.images.d435": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": false, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "YUY2" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 604.6974487304688, + "fy": 604.4395141601563, + "height": 480, + "model": "Inverse Brown Conrady", + "ppx": 429.3679504394531, + "ppy": 241.97515869140625, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.015051440335810184, + 0.0005301740602590144, + 0.00039620933239348233 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d405_left": { + "dtype": "video", + "shape": [ + 240, + 424, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": false, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "YUY2" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 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"emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d435_ir2": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": true, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "GRAY8" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.05008585751056671, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null, + "units": [ + "s" + ] + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + } + }, + "total_episodes": 1, + "total_frames": 2747, + "total_tasks": 1, + "chunks_size": 1000, + "data_files_size_in_mb": 100, + "video_files_size_in_mb": 200, + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", + "robot_type": "unitree_g1_29dof_dex1", + "splits": { + "train": "0:1" + } +} \ No newline at end of file diff --git a/socks/meta/lidar.json b/socks/meta/lidar.json new file mode 100644 index 0000000000000000000000000000000000000000..90eccfda7b21b72fdcd177211b99270a6439805e --- /dev/null +++ b/socks/meta/lidar.json @@ -0,0 +1,99 @@ +{ + "device": { + "imu_enabled": true, + "ip": "192.168.123.120", + "model": "Livox MID-360", + "point_data_type": "cartesian high precision, 1 mm", + "serial": "47MCNBD0036132", + "work_mode": "normal" + }, + "files": [ + "lidar/imu-000.parquet", + "lidar/imu-001.parquet", + "lidar/packets-000.parquet", + "lidar/packets-001.parquet", + "lidar/points-000.parquet", + "lidar/points-001.parquet" + ], + "file_seconds": 60.0, + "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", + "clocks": { + "lidar_ns": "the lidar's own clock, time since it powered on", + "host_ns": "system clock when the packet arrived, late by the network delay, usually under 1 ms, at times tens of ms", + "capture_host_ns": "lidar_ns mapped onto the system clock; compare capture_host_ns / 1000 with the rows' observation.row_time_us" + }, + "clock_fit": { + "method": "line through the minimum host_ns - lidar_ns of each lidar-clock second, refitted every second", + "window_s": 30, + "outlier_ns": 1000000.0 + }, + "coverage": { + "start_us": 1791386981322739, + "end_us": 1791387072889405, + "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" + }, + "tables": { + "imu": { + "acc": "m/s^2", + "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", + "gyro": "rad/s", + "source": "Livox MID-360 built-in IMU packets", + "udp_cnt": "uint16 packet sequence number from the IMU packet header, wraps at 65536; a step above 1 means lost packets" + }, + "packets": { + "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", + "dot_num": "points the lidar sent, including no-return points not stored", + "frame_index": "lidar_ns / 100000000: 100 ms scan frames on the lidar clock, assigned by packet timestamp; the MID-360 reports frame_cnt 0", + "host_ns": "system clock at receive", + "lidar_ns": "packet timestamp on the lidar clock, see time_type", + "point_count": "rows stored in points-NNN.parquet from first_point", + "source": "Livox MID-360 point packet headers, one row per packet", + "time_interval": "0.1 us units, span of the packet's points", + "udp_cnt": "uint16 packet sequence number, +1 per packet, wraps at 65536; a larger step means lost packets" + }, + "points": { + "first_point": "packets-NNN.parquet first_point indexes rows of the same file", + "source": "Livox MID-360 point packets, one row per returned point; no-return points (0, 0, 0) are not stored", + "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", + "xyz": "millimetres in the lidar frame" + } + }, + "summary": { + "points": 12268909, + "point_packets": 190763, + "lost_point_packets": 0, + "imu_packets": 18314, + "lost_imu_packets": 0, + "imu_udp_cnt_stuck": false + }, + "lidar_to_robot": { + "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", + "from": "lidar", + "rotation": [ + [ + 0.999194395114446, + 0.0, + -0.04013179253255968 + ], + [ + 0.0, + -1.0, + 0.0 + ], + [ + -0.04013179253255968, + 0.0, + -0.999194395114446 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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)", + "to": "torso_link", + "translation": [ + 0.0002835, + 3e-05, + 0.40618 + ], + "translation_units": "meters" + } +} \ No newline at end of file diff --git a/socks/meta/pico.json b/socks/meta/pico.json new file mode 100644 index 0000000000000000000000000000000000000000..2a1e0912951d97ac4978b75ddd02c36ec3e0fe08 --- /dev/null +++ b/socks/meta/pico.json @@ -0,0 +1,408 @@ +{ + "files": [ + "pico/packets-000.parquet" + ], + "clocks": { + "host_ns": "system clock when the packet was read, the clock of the rows' observation.row_time_us" + }, + "coverage": { + "start_us": 1791386981322739, + "end_us": 1791387072889405, + "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" + }, + "format": { + "source": "UDP packets from the PICO VR headset app (teleop-pico-app UdpSender.cs), one row per packet main received, in arrival order", + "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", + "packet_bytes": 60, + "byte_order": "little-endian", + "decoded_columns": "every wire field in packet order with its wire type; null when raw is not 60 bytes", + "frames": { + "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" + }, + "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)" + }, + "columns": [ + { + "name": "host_ns", + "dtype": "int64", + "nullable": false, + "unit": "ns", + "clock": "system clock (CLOCK_REALTIME), nanoseconds since the Unix epoch", + "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" + }, + { + "name": "raw", + "dtype": "binary", + "nullable": false, + "unit": "bytes", + "description": "the complete UDP payload exactly as received, 60 bytes for a well-formed packet; the decoded columns below are derived from it" + }, + { + "name": "crc_ok", + "dtype": "bool", + "nullable": false, + "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" + }, + { + "name": "buttons", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 0, + "byte_length": 2, + "unit": "bitmask", + "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", + "range": "0..255", + "description": "controller buttons held while the packet was built" + }, + { + "name": "left_trigger", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 2, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "left index trigger, 0 released, 1 fully pressed" + }, + { + "name": "right_trigger", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 3, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "right index trigger, 0 released, 1 fully pressed" + }, + { + "name": "left_grip", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 4, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "left grip (middle finger), 0 released, 1 fully pressed" + }, + { + "name": "right_grip", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 5, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "right grip (middle finger), 0 released, 1 fully pressed" + }, + { + "name": "left_stick_x", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 6, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "left thumbstick horizontal, +1 right" + }, + { + "name": "left_stick_y", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 7, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "left thumbstick vertical, +1 pushed forward" + }, + { + "name": "right_stick_x", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 8, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "right thumbstick horizontal, +1 right" + }, + { + "name": "right_stick_y", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 9, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "right thumbstick vertical, +1 pushed forward" + }, + { + "name": "left_hand_pos_x", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 10, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, x axis" + }, + { + "name": "left_hand_pos_y", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 14, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, y axis" + }, + { + "name": "left_hand_pos_z", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 18, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, z axis" + }, + { + "name": "left_hand_quat_x", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 22, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_y", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 24, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_z", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 26, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_w", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 28, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_pos_x", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 30, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, x axis" + }, + { + "name": "right_hand_pos_y", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 34, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, y axis" + }, + { + "name": "right_hand_pos_z", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 38, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, z axis" + }, + { + "name": "right_hand_quat_x", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 42, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_y", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 44, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_z", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 46, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_w", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 48, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_lin_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 50, + "byte_length": 2, + "unit": "m/s^2", + "decode": "value / 65535 * 100", + "range": "0..100, clamped", + "description": "left controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps" + }, + { + "name": "right_hand_lin_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 52, + "byte_length": 2, + "unit": "m/s^2", + "decode": "value / 65535 * 100", + "range": "0..100, clamped", + "description": "right controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps" + }, + { + "name": "left_hand_ang_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 54, + "byte_length": 2, + "unit": "rad/s^2", + "decode": "value / 65535 * 500", + "range": "0..500, clamped", + "description": "left controller angular acceleration magnitude as reported by the PICO runtime" + }, + { + "name": "right_hand_ang_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 56, + "byte_length": 2, + "unit": "rad/s^2", + "decode": "value / 65535 * 500", + "range": "0..500, clamped", + "description": "right controller angular acceleration magnitude as reported by the PICO runtime" + }, + { + "name": "height", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 58, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "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" + }, + { + "name": "crc", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 59, + "byte_length": 1, + "unit": "checksum", + "decode": "low byte of the bitwise-inverted CRC-32 (reflected, polynomial 0xEDB88320, initial value 0xFFFFFFFF) over bytes 0..58", + "range": "0..255", + "description": "packet checksum as sent" + } + ], + "summary": { + "packets": 8240, + "crc_errors": 0, + "wrong_size": 0 + } +} \ No newline at end of file diff --git a/socks/meta/stats.json b/socks/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..d22418bd7e59c43e311d1b53b6b89db413155297 --- /dev/null +++ b/socks/meta/stats.json @@ -0,0 +1,6645 @@ +{ + "observation.state": { + "min": [ + -0.5182554125785828, + -0.10076548904180527, + -0.06606221944093704, + 0.7736461758613586, + -0.5557006001472473, + -0.02970643900334835, + -0.5168748497962952, + -0.06558620184659958, + -0.11021529883146286, + 0.7729132771492004, + -0.5694434642791748, + -0.09466833621263504, + -0.05309886485338211, + -0.0810348317027092, + 0.27301716804504395, + -0.7381683588027954, + 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stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 15, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "d435_depth": { + "decimation": 2.0, + "depth_scale": 0.0010000000474974513, + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 213.7545166015625, + "fy": 213.7545166015625, + "height": 240, + "model": "Brown Conrady", + "ppx": 211.14247131347656, + "ppy": 118.16234588623047, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "d435_imu": { + "accel_hz": 100, + "accel_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "accel", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "firmware": "5.15.1.55", + "gyro_hz": 200, + "gyro_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "gyro", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "imu": "BMI085", + "model": "Intel RealSense D435I", + "serial": "344422072211" + }, + "lidar": { + "imu_enabled": true, + "ip": "192.168.123.120", + "lidar_to_robot": { + "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", + "from": "lidar", + "rotation": [ + [ + 0.999194395114446, + 0.0, + -0.04013179253255968 + ], + [ + 0.0, + -1.0, + 0.0 + ], + [ + -0.04013179253255968, + 0.0, + -0.999194395114446 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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)", + "to": "torso_link", + "translation": [ + 0.0002835, + 3e-05, + 0.40618 + ], + "translation_units": "meters" + }, + "model": "Livox MID-360", + "point_data_type": "cartesian high precision, 1 mm", + "serial": "47MCNBD0036132", + "work_mode": "normal" + }, + "observation.images.d405_left": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + -0.054188452661037445, + 0.05881553888320923, + -0.0003202924854122102, + 0.00020088741439394653, + -0.019861899316310883 + ], + "fx": 218.81365966796875, + "fy": 218.15673828125, + "height": 240, + "model": "Inverse Brown Conrady", + "ppx": 215.09109497070313, + "ppy": 121.45121765136719, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9999985098838806, + -4.0820068534230813e-05, + 0.0017188057536259294 + ], + [ + 4.241080750944093e-05, + 0.9999995827674866, + -0.0009254640317521989 + ], + [ + -0.0017187672201544046, + 0.0009255355689674616, + 0.9999980926513672 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 9.99999883788405e-06, + 9.999999747378752e-06, + 1.0000000656873453e-05 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_left_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_left_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.018033809959888458, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + -0.053430959582328796, + 0.05783621594309807, + 1.6788393622846343e-05, + 0.00011876612552441657, + -0.019358215853571892 + ], + "fx": 218.827392578125, + "fy": 218.1957244873047, + "height": 240, + "model": "Inverse Brown Conrady", + "ppx": 212.58233642578125, + "ppy": 118.080322265625, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9999870657920837, + 0.002029627561569214, + -0.004668358247727156 + ], + [ + -0.002033582655712962, + 0.9999975562095642, + -0.0008426257409155369 + ], + [ + 0.004666636697947979, + 0.0008521082927472889, + 0.9999887347221375 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -1.0000000656873453e-05, + -9.999999747378752e-06, + -9.936374226526823e-06 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d405_right_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.01799909956753254, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 30, + "serial": "260322277869", + "stereo_module_fps": 30, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 604.6974487304688, + "fy": 604.4395141601563, + "height": 480, + "model": "Inverse Brown Conrady", + "ppx": 429.3679504394531, + "ppy": 241.97515869140625, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.015051440335810184, + 0.0005301740602590144, + 0.00039620933239348233 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435_ir1": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "observation.images.d435_ir2": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.05008585751056671, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + } +} \ No newline at end of file diff --git a/wipes/meta/d435_imu.json b/wipes/meta/d435_imu.json new file mode 100644 index 0000000000000000000000000000000000000000..1cb9fcc10e0aadaa3822b7b69bbfdf67b985eae4 --- /dev/null +++ b/wipes/meta/d435_imu.json @@ -0,0 +1,94 @@ +{ + "device": { + "accel_hz": 100, + "accel_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the accel frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "accel", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "firmware": "5.15.1.55", + "gyro_hz": 200, + "gyro_to_color": { + "convention": "p_to = rotation * p_from + translation, a point in the gyro frame mapped into the D435i color camera frame", + "frame": "color camera optical frame of observation.images.d435: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "gyro", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "color", + "translation": [ + 0.020711706951260567, + -0.004466243088245392, + -0.011321520432829857 + ], + "translation_units": "meters" + }, + "imu": "BMI085", + "model": "Intel RealSense D435I", + "serial": "344422072211" + }, + "files": [ + "d435_imu/imu-000.parquet" + ], + "clocks": { + "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", + "host_ns": "system clock when the sample arrived" + }, + "coverage": { + "start_us": 1791385101176088, + "end_us": 1791385198542754, + "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" + }, + "columns": { + "calibration": "raw: the camera stores no IMU intrinsic calibration", + "frame": "D435i IMU axes, mapped into the color camera frame by meta/calibration.json d435_imu.gyro_to_color and accel_to_color", + "host_ns": "system clock at receive", + "kind": "0 = gyro, 1 = accel", + "sensor_ts_us": "camera global time, the same clock as the video frames' observation.sensor_ts_us", + "source": "Intel RealSense D435i motion module (BMI085), one row per sample", + "units": "gyro rad/s, accel m/s^2" + }, + "samples": 29208 +} \ No newline at end of file diff --git a/wipes/meta/depth.json b/wipes/meta/depth.json new file mode 100644 index 0000000000000000000000000000000000000000..ee4ed660fc1db561e0fe8641c1ca742f41156100 --- /dev/null +++ b/wipes/meta/depth.json @@ -0,0 +1,433 @@ +{ + "fps": 15, + "row_step": 2, + "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", + "streams": { + "d435_depth": { + "path": "depth/d435_depth/chunk-000/file-000.mov", + "frames": 1461, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 0.0010000000474974513, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 2.0, + "depth_scale": 0.0010000000474974513, + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 213.7545166015625, + "fy": 213.7545166015625, + "height": 240, + "model": "Brown Conrady", + "ppx": 211.14247131347656, + "ppy": 118.16234588623047, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.17100000812206417 + ], + "max": [ + 65.53500311274547 + ], + "mean": [ + 0.6315724873409849 + ], + "std": [ + 0.3860058312885169 + ], + "count": [ + 1461 + ], + "q01": [ + 0.2447172062328577 + ], + "q10": [ + 0.31925755139249773 + ], + "q50": [ + 0.5172373319965884 + ], + "q90": [ + 1.1538474047351406 + ], + "q99": [ + 1.7896347343643515 + ] + } + }, + "d405_left_depth": { + "path": "depth/d405_left_depth/chunk-000/file-000.mov", + "frames": 1461, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 9.999999747378752e-05, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 214.20974731445313, + "fy": 214.20974731445313, + "height": 240, + "model": "Brown Conrady", + "ppx": 214.87191772460938, + "ppy": 120.27647399902344, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link left_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + -0.0, + -1.468247496825271e-17 + ], + [ + -1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "left_dex1_base_link", + "translation": [ + 0.05839, + 0.0090169, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 0, + "recorded_fps": 15, + "serial": "260322273676", + "stereo_module_fps": 30, + "stream": "depth", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "stats_units": "meters, invalid zeros excluded", + "stats": { + "min": [ + 0.030799999221926555 + ], + "max": [ + 6.553499834444665 + ], + "mean": [ + 0.601366741851779 + ], + "std": [ + 1.0232945345873663 + ], + "count": [ + 1461 + ], + "q01": [ + 0.057199504403079415 + ], + "q10": [ + 0.09739672942145054 + ], + "q50": [ + 0.21652310422239948 + ], + "q90": [ + 1.6267417046431816 + ], + "q99": [ + 6.552626998512581 + ] + } + }, + "d405_right_depth": { + "path": "depth/d405_right_depth/chunk-000/file-000.mov", + "frames": 1461, + "height": 240, + "width": 424, + "channels": 1, + "codec": "ffv1", + "pix_fmt": "gray16le", + "container": "mov", + "g": 1, + "lossless": true, + "units": "raw z16; meters = value * depth_scale; 0 = invalid", + "depth_scale": 9.999999747378752e-05, + "source": "RealSense on-chip depth, decimated 2x", + "camera": { + "decimation": 1.0, + "depth_scale": 9.999999747378752e-05, + "depth_visual_preset": "High Density", + "emitter_enabled": null, + "firmware": "5.15.1.55", + "format": "Z16", + "frames_rotated_upright": true, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + -0.0, + -0.0, + 0.0 + ], + "fx": 215.798828125, + "fy": 215.798828125, + "height": 240, + "model": "Brown Conrady", + "ppx": 210.02273559570313, + "ppy": 119.7447738647461, + "width": 424 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link right_dex1_base_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -0.0, + -0.5000042102057056, + 0.8660229730073958 + ], + [ + -1.0, + 0.0, + 1.468247496825271e-17 + ], + [ + 1.468247496825271e-17, + -0.8660229730073958, + -0.5000042102057056 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "source": "robot model, not measured: the 3D-printed Dex1-1 camera mount, with the IR pair about 18 mm apart as calibrated", + "to": "right_dex1_base_link", + "translation": [ + 0.05839, + -0.0089995, + 0.05774 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D405", + "mount_rotation_deg": 180, + "recorded_fps": 15, + "serial": "260322277869", + "stereo_module_fps": 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"waist_pitch_joint.dq_target", + "left_shoulder_pitch_joint.dq_target", + "left_shoulder_roll_joint.dq_target", + "left_shoulder_yaw_joint.dq_target", + "left_elbow_joint.dq_target", + "left_wrist_roll_joint.dq_target", + "left_wrist_pitch_joint.dq_target", + "left_wrist_yaw_joint.dq_target", + "right_shoulder_pitch_joint.dq_target", + "right_shoulder_roll_joint.dq_target", + "right_shoulder_yaw_joint.dq_target", + "right_elbow_joint.dq_target", + "right_wrist_roll_joint.dq_target", + "right_wrist_pitch_joint.dq_target", + "right_wrist_yaw_joint.dq_target" + ], + "units": [ + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s", + "rad/s" + ] + }, + "action.tau_requested": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.tau_requested", + "left_hip_roll_joint.tau_requested", + "left_hip_yaw_joint.tau_requested", + "left_knee_joint.tau_requested", + "left_ankle_pitch_joint.tau_requested", + "left_ankle_roll_joint.tau_requested", + "right_hip_pitch_joint.tau_requested", + "right_hip_roll_joint.tau_requested", + "right_hip_yaw_joint.tau_requested", + "right_knee_joint.tau_requested", + "right_ankle_pitch_joint.tau_requested", + "right_ankle_roll_joint.tau_requested", + "waist_yaw_joint.tau_requested", + "waist_roll_joint.tau_requested", + "waist_pitch_joint.tau_requested", + "left_shoulder_pitch_joint.tau_requested", + "left_shoulder_roll_joint.tau_requested", + "left_shoulder_yaw_joint.tau_requested", + "left_elbow_joint.tau_requested", + "left_wrist_roll_joint.tau_requested", + "left_wrist_pitch_joint.tau_requested", + "left_wrist_yaw_joint.tau_requested", + "right_shoulder_pitch_joint.tau_requested", + "right_shoulder_roll_joint.tau_requested", + "right_shoulder_yaw_joint.tau_requested", + "right_elbow_joint.tau_requested", + "right_wrist_roll_joint.tau_requested", + "right_wrist_pitch_joint.tau_requested", + "right_wrist_yaw_joint.tau_requested", + "left_hand.tau_requested", + "right_hand.tau_requested" + ], + "units": [ + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state", + "N*m, the torque the controller asked for before the torque budget capped it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the uncapped command and this row's state; for the hands the gripper guard's PD request, NaN without gripper state" + ] + }, + "action.torque_cap": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.torque_cap", + "left_hip_roll_joint.torque_cap", + "left_hip_yaw_joint.torque_cap", + "left_knee_joint.torque_cap", + "left_ankle_pitch_joint.torque_cap", + "left_ankle_roll_joint.torque_cap", + "right_hip_pitch_joint.torque_cap", + "right_hip_roll_joint.torque_cap", + "right_hip_yaw_joint.torque_cap", + "right_knee_joint.torque_cap", + "right_ankle_pitch_joint.torque_cap", + "right_ankle_roll_joint.torque_cap", + "waist_yaw_joint.torque_cap", + "waist_roll_joint.torque_cap", + "waist_pitch_joint.torque_cap", + "left_shoulder_pitch_joint.torque_cap", + "left_shoulder_roll_joint.torque_cap", + "left_shoulder_yaw_joint.torque_cap", + "left_elbow_joint.torque_cap", + "left_wrist_roll_joint.torque_cap", + "left_wrist_pitch_joint.torque_cap", + "left_wrist_yaw_joint.torque_cap", + "right_shoulder_pitch_joint.torque_cap", + "right_shoulder_roll_joint.torque_cap", + "right_shoulder_yaw_joint.torque_cap", + "right_elbow_joint.torque_cap", + "right_wrist_roll_joint.torque_cap", + "right_wrist_pitch_joint.torque_cap", + "right_wrist_yaw_joint.torque_cap", + "left_hand.torque_cap", + "right_hand.torque_cap" + ], + "units": [ + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped", + "fraction 0..1 of the joint's peak torque its torque budget allowed this row (15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers), 1 with a full budget down to 0.4 with an empty one, lower for a gripper in delicate mode; legs and waist are never capped" + ] + }, + "action.tau_commanded": { + "dtype": "float32", + "shape": [ + 31 + ], + "names": [ + "left_hip_pitch_joint.tau_commanded", + "left_hip_roll_joint.tau_commanded", + "left_hip_yaw_joint.tau_commanded", + "left_knee_joint.tau_commanded", + "left_ankle_pitch_joint.tau_commanded", + "left_ankle_roll_joint.tau_commanded", + "right_hip_pitch_joint.tau_commanded", + "right_hip_roll_joint.tau_commanded", + "right_hip_yaw_joint.tau_commanded", + "right_knee_joint.tau_commanded", + "right_ankle_pitch_joint.tau_commanded", + "right_ankle_roll_joint.tau_commanded", + "waist_yaw_joint.tau_commanded", + "waist_roll_joint.tau_commanded", + "waist_pitch_joint.tau_commanded", + "left_shoulder_pitch_joint.tau_commanded", + "left_shoulder_roll_joint.tau_commanded", + "left_shoulder_yaw_joint.tau_commanded", + "left_elbow_joint.tau_commanded", + "left_wrist_roll_joint.tau_commanded", + "left_wrist_pitch_joint.tau_commanded", + "left_wrist_yaw_joint.tau_commanded", + "right_shoulder_pitch_joint.tau_commanded", + "right_shoulder_roll_joint.tau_commanded", + "right_shoulder_yaw_joint.tau_commanded", + "right_elbow_joint.tau_commanded", + "right_wrist_roll_joint.tau_commanded", + "right_wrist_pitch_joint.tau_commanded", + "right_wrist_yaw_joint.tau_commanded", + "left_hand.tau_commanded", + "right_hand.tau_commanded" + ], + "units": [ + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state", + "N*m, the torque commanded after the torque budget limited it: kp*(q_target-q)+kd*(dq_target-dq)+tau_ff from the command sent and this row's state; for the hands the gripper guard's limited PD torque, NaN without gripper state" + ] + }, + "observation.torque_budget": { + "dtype": "float32", + "shape": [ + 16 + ], + "names": [ + "left_shoulder_pitch_joint.torque_budget", + "left_shoulder_roll_joint.torque_budget", + "left_shoulder_yaw_joint.torque_budget", + "left_elbow_joint.torque_budget", + "left_wrist_roll_joint.torque_budget", + "left_wrist_pitch_joint.torque_budget", + "left_wrist_yaw_joint.torque_budget", + "right_shoulder_pitch_joint.torque_budget", + "right_shoulder_roll_joint.torque_budget", + "right_shoulder_yaw_joint.torque_budget", + "right_elbow_joint.torque_budget", + "right_wrist_roll_joint.torque_budget", + "right_wrist_pitch_joint.torque_budget", + "right_wrist_yaw_joint.torque_budget", + "left_hand.torque_budget", + "right_hand.torque_budget" + ], + "units": [ + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state", + "N*m*s, the joint's remaining torque budget: capacity peak*5 s, refilled by 0.4*peak per second before the torque used (measured, at most the allowed torque) is taken out; peak 15 N*m arm 5020 joints, 5 N*m wrist pitch and yaw, 5 N*m grippers; arm joints and hands only, NaN for a hand without gripper state" + ] + }, + "action.torque_allowed": { + "dtype": "float32", + "shape": [ + 16 + ], + "names": [ + "left_shoulder_pitch_joint.torque_allowed", + "left_shoulder_roll_joint.torque_allowed", + "left_shoulder_yaw_joint.torque_allowed", + "left_elbow_joint.torque_allowed", + "left_wrist_roll_joint.torque_allowed", + "left_wrist_pitch_joint.torque_allowed", + "left_wrist_yaw_joint.torque_allowed", + "right_shoulder_pitch_joint.torque_allowed", + "right_shoulder_roll_joint.torque_allowed", + "right_shoulder_yaw_joint.torque_allowed", + "right_elbow_joint.torque_allowed", + "right_wrist_roll_joint.torque_allowed", + "right_wrist_pitch_joint.torque_allowed", + "right_wrist_yaw_joint.torque_allowed", + "left_hand.torque_allowed", + "right_hand.torque_allowed" + ], + "units": [ + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state", + "N*m, the torque the joint's torque budget allowed this row: 0.4*peak + 0.6*peak*budget/capacity, at most 0.3 N*m for a hand in delicate mode; arm joints and hands only, NaN for a hand without gripper state" + ] + }, + "action.torque_limited": { + "dtype": "int64", + "shape": [ + 16 + ], + "names": [ + "left_shoulder_pitch_joint.torque_limited", + "left_shoulder_roll_joint.torque_limited", + "left_shoulder_yaw_joint.torque_limited", + "left_elbow_joint.torque_limited", + "left_wrist_roll_joint.torque_limited", + "left_wrist_pitch_joint.torque_limited", + "left_wrist_yaw_joint.torque_limited", + "right_shoulder_pitch_joint.torque_limited", + "right_shoulder_roll_joint.torque_limited", + "right_shoulder_yaw_joint.torque_limited", + "right_elbow_joint.torque_limited", + "right_wrist_roll_joint.torque_limited", + "right_wrist_pitch_joint.torque_limited", + "right_wrist_yaw_joint.torque_limited", + "left_hand.torque_limited", + "right_hand.torque_limited" + ], + "units": [ + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)", + "bool, 1 when the torque budget limited the command this row (on a hand in delicate mode the allowed torque is also capped at 0.3 N*m)" + ] + }, + "action.teleop": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_wrist.x", + "left_wrist.y", + "left_wrist.z", + "left_wrist.qw", + "left_wrist.qx", + "left_wrist.qy", + "left_wrist.qz", + "right_wrist.x", + "right_wrist.y", + "right_wrist.z", + "right_wrist.qw", + "right_wrist.qx", + "right_wrist.qy", + "right_wrist.qz", + "vx", + "vy", + "yaw_rate", + "height_command", + "left_trigger", + "right_trigger", + "left_grip", + "right_grip", + "left_stick.x", + "left_stick.y", + "right_stick.x", + "right_stick.y" + ], + "units": [ + "m", + "m", + "m", + "unitless", + "unitless", + "unitless", + "unitless", + "m", + "m", + "m", + "unitless", + "unitless", + "unitless", + "unitless", + "m/s", + "m/s", + "rad/s", + "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", + "fraction 0..1", + "fraction 0..1", + "fraction 0..1", + "fraction 0..1", + "fraction -1..1, + = pushed right", + "fraction -1..1, + = pushed forward", + "fraction -1..1, + = pushed right", + "fraction -1..1, + = pushed forward" + ] + }, + "action.teleop.buttons": { + "dtype": "int64", + "shape": [ + 8 + ], + "names": [ + "right_a", + "right_b", + "left_x", + "left_y", + "left_menu", + "right_menu", + "left_stick_click", + "right_stick_click" + ], + "units": [ + "bool", + "bool", + "bool", + "bool", + "bool", + "bool", + "bool", + "bool" + ] + }, + "observation.teleop_active": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "bool" + ] + }, + "observation.frame_counter": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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", + "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" + ] + }, + "observation.sensor_ts_us": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" + ] + }, + "observation.row_time_us": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "us" + ] + }, + "observation.frame_offset_us": { + "dtype": "float64", + "shape": [ + 12 + ], + "names": [ + "d435", + "d405_left", + "d405_left_ir1", + "d405_left_ir2", + "d405_right", + "d405_right_ir1", + "d405_right_ir2", + "d435_ir1", + "d435_ir2", + "d435_depth", + "d405_left_depth", + "d405_right_depth" + ], + "units": [ + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping", + "us, NaN on rows without a depth frame, see meta/depth.json row_mapping" + ] + }, + "observation.control_offset_us": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": [ + "us" + ] + }, + "observation.images.d435": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": false, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "YUY2" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "YUYV", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 604.6974487304688, + "fy": 604.4395141601563, + "height": 480, + "model": "Inverse Brown Conrady", + "ppx": 429.3679504394531, + "ppy": 241.97515869140625, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 0.9998977184295654, + -0.012767679989337921, + -0.006449446082115173 + ], + [ + 0.012749895453453064, + 0.999914824962616, + -0.0027912240475416183 + ], + [ + 0.006484534125775099, + 0.0027087086346000433, + 0.999975323677063 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.015051440335810184, + 0.0005301740602590144, + 0.00039620933239348233 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Color", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d405_left": { + "dtype": "video", + "shape": [ + 240, + 424, + 3 + 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"has_audio": false + } + }, + "observation.images.d435_ir1": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": true, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "GRAY8" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + 0.0, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 1", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "observation.images.d435_ir2": { + "dtype": "video", + "shape": [ + 480, + 848, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_grayscale": true, + "video.g": 2, + "video.crf": null, + "video.preset": null, + "video.fast_decode": 0, + "video.video_backend": "gstreamer-nvv4l2av1enc", + "video.extra_options": { + "ratecontrol-enable": false, + "quant-i-frames": 120, + "quant-p-frames": 120, + "source_format": "GRAY8" + }, + "camera": { + "depth_visual_preset": "High Density", + "emitter_enabled": true, + "firmware": "5.15.1.55", + "format": "Y8", + "frames_rotated_upright": false, + "intrinsics": { + "coeffs": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "fx": 427.509033203125, + "fy": 427.509033203125, + "height": 480, + "model": "Brown Conrady", + "ppx": 422.2849426269531, + "ppy": 236.32469177246094, + "width": 848 + }, + "ir1_to_robot": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into the robot link torso_link", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + -2.220446049250313e-16, + -0.7384553316173743, + 0.6743023974493004 + ], + [ + -1.0000000000000002, + 2.220446049250313e-16, + -1.0303904848204921e-17 + ], + [ + -1.0303904848204921e-17, + -0.6743023974493004, + -0.7384553316173741 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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", + "to": "torso_link", + "translation": [ + 0.0576235, + 0.042573, + 0.41987 + ], + "translation_units": "meters" + }, + "ir1_to_stream": { + "convention": "p_to = rotation * p_from + translation, a point in the IR1 camera frame mapped into this stream's camera frame", + "frame": "camera optical frame of the recorded image: +x right, +y down, +z forward along the optical axis, origin at the optical center", + "from": "infrared_1", + "rotation": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "to": "this stream", + "translation": [ + -0.05008585751056671, + 0.0, + 0.0 + ], + "translation_units": "meters" + }, + "model": "Intel RealSense D435I", + "mount_rotation_deg": 0, + "recorded_fps": 30, + "serial": "344422072211", + "stereo_module_fps": 90, + "stream": "Infrared 2", + "timestamp_domain": "global_time_us", + "usb": "3.2" + }, + "video.height": 480, + "video.width": 848, + "video.channels": 3, + "video.fps": 30, + "video.is_depth_map": false, + "has_audio": false + } + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null, + "units": [ + "s" + ] + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null, + "units": null + } + }, + "total_episodes": 1, + "total_frames": 2921, + "total_tasks": 1, + "chunks_size": 1000, + "data_files_size_in_mb": 100, + "video_files_size_in_mb": 200, + "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet", + "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4", + "robot_type": "unitree_g1_29dof_dex1", + "splits": { + "train": "0:1" + } +} \ No newline at end of file diff --git a/wipes/meta/lidar.json b/wipes/meta/lidar.json new file mode 100644 index 0000000000000000000000000000000000000000..5e0856ab8644ced4ad3e50e06d1932c00fea71f6 --- /dev/null +++ b/wipes/meta/lidar.json @@ -0,0 +1,99 @@ +{ + "device": { + "imu_enabled": true, + "ip": "192.168.123.120", + "model": "Livox MID-360", + "point_data_type": "cartesian high precision, 1 mm", + "serial": "47MCNBD0036132", + "work_mode": "normal" + }, + "files": [ + "lidar/imu-000.parquet", + "lidar/imu-001.parquet", + "lidar/packets-000.parquet", + "lidar/packets-001.parquet", + "lidar/points-000.parquet", + "lidar/points-001.parquet" + ], + "file_seconds": 60.0, + "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", + "clocks": { + "lidar_ns": "the lidar's own clock, time since it powered on", + "host_ns": "system clock when the packet arrived, late by the network delay, usually under 1 ms, at times tens of ms", + "capture_host_ns": "lidar_ns mapped onto the system clock; compare capture_host_ns / 1000 with the rows' observation.row_time_us" + }, + "clock_fit": { + "method": "line through the minimum host_ns - lidar_ns of each lidar-clock second, refitted every second", + "window_s": 30, + "outlier_ns": 1000000.0 + }, + "coverage": { + "start_us": 1791385101176088, + "end_us": 1791385198542754, + "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" + }, + "tables": { + "imu": { + "acc": "m/s^2", + "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", + "gyro": "rad/s", + "source": "Livox MID-360 built-in IMU packets", + "udp_cnt": "uint16 packet sequence number from the IMU packet header, wraps at 65536; a step above 1 means lost packets" + }, + "packets": { + "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", + "dot_num": "points the lidar sent, including no-return points not stored", + "frame_index": "lidar_ns / 100000000: 100 ms scan frames on the lidar clock, assigned by packet timestamp; the MID-360 reports frame_cnt 0", + "host_ns": "system clock at receive", + "lidar_ns": "packet timestamp on the lidar clock, see time_type", + "point_count": "rows stored in points-NNN.parquet from first_point", + "source": "Livox MID-360 point packet headers, one row per packet", + "time_interval": "0.1 us units, span of the packet's points", + "udp_cnt": "uint16 packet sequence number, +1 per packet, wraps at 65536; a larger step means lost packets" + }, + "points": { + "first_point": "packets-NNN.parquet first_point indexes rows of the same file", + "source": "Livox MID-360 point packets, one row per returned point; no-return points (0, 0, 0) are not stored", + "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", + "xyz": "millimetres in the lidar frame" + } + }, + "summary": { + "points": 12681760, + "point_packets": 202847, + "lost_point_packets": 0, + "imu_packets": 19473, + "lost_imu_packets": 0, + "imu_udp_cnt_stuck": false + }, + "lidar_to_robot": { + "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", + "from": "lidar", + "rotation": [ + [ + 0.999194395114446, + 0.0, + -0.04013179253255968 + ], + [ + 0.0, + -1.0, + 0.0 + ], + [ + -0.04013179253255968, + 0.0, + -0.999194395114446 + ] + ], + "rotation_layout": "row-major 3x3, rotation[row][col]", + "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)", + "to": "torso_link", + "translation": [ + 0.0002835, + 3e-05, + 0.40618 + ], + "translation_units": "meters" + } +} \ No newline at end of file diff --git a/wipes/meta/pico.json b/wipes/meta/pico.json new file mode 100644 index 0000000000000000000000000000000000000000..fa661f2c1b109a259ea612688bbfa6c97a922924 --- /dev/null +++ b/wipes/meta/pico.json @@ -0,0 +1,408 @@ +{ + "files": [ + "pico/packets-000.parquet" + ], + "clocks": { + "host_ns": "system clock when the packet was read, the clock of the rows' observation.row_time_us" + }, + "coverage": { + "start_us": 1791385101176088, + "end_us": 1791385198542754, + "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" + }, + "format": { + "source": "UDP packets from the PICO VR headset app (teleop-pico-app UdpSender.cs), one row per packet main received, in arrival order", + "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", + "packet_bytes": 60, + "byte_order": "little-endian", + "decoded_columns": "every wire field in packet order with its wire type; null when raw is not 60 bytes", + "frames": { + "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" + }, + "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)" + }, + "columns": [ + { + "name": "host_ns", + "dtype": "int64", + "nullable": false, + "unit": "ns", + "clock": "system clock (CLOCK_REALTIME), nanoseconds since the Unix epoch", + "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" + }, + { + "name": "raw", + "dtype": "binary", + "nullable": false, + "unit": "bytes", + "description": "the complete UDP payload exactly as received, 60 bytes for a well-formed packet; the decoded columns below are derived from it" + }, + { + "name": "crc_ok", + "dtype": "bool", + "nullable": false, + "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" + }, + { + "name": "buttons", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 0, + "byte_length": 2, + "unit": "bitmask", + "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", + "range": "0..255", + "description": "controller buttons held while the packet was built" + }, + { + "name": "left_trigger", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 2, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "left index trigger, 0 released, 1 fully pressed" + }, + { + "name": "right_trigger", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 3, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "right index trigger, 0 released, 1 fully pressed" + }, + { + "name": "left_grip", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 4, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "left grip (middle finger), 0 released, 1 fully pressed" + }, + { + "name": "right_grip", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 5, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "description": "right grip (middle finger), 0 released, 1 fully pressed" + }, + { + "name": "left_stick_x", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 6, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "left thumbstick horizontal, +1 right" + }, + { + "name": "left_stick_y", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 7, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "left thumbstick vertical, +1 pushed forward" + }, + { + "name": "right_stick_x", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 8, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "right thumbstick horizontal, +1 right" + }, + { + "name": "right_stick_y", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 9, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255 * 2 - 1", + "range": "-1..1", + "description": "right thumbstick vertical, +1 pushed forward" + }, + { + "name": "left_hand_pos_x", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 10, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, x axis" + }, + { + "name": "left_hand_pos_y", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 14, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, y axis" + }, + { + "name": "left_hand_pos_z", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 18, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "left controller position relative to the headset, z axis" + }, + { + "name": "left_hand_quat_x", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 22, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_y", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 24, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_z", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 26, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_quat_w", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 28, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_pos_x", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 30, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, x axis" + }, + { + "name": "right_hand_pos_y", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 34, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, y axis" + }, + { + "name": "right_hand_pos_z", + "dtype": "float", + "nullable": true, + "wire_type": "float32, little-endian", + "byte_offset": 38, + "byte_length": 4, + "unit": "m", + "decode": "value", + "frame": "head_yaw", + "description": "right controller position relative to the headset, z axis" + }, + { + "name": "right_hand_quat_x", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 42, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_y", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 44, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_z", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 46, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "right_hand_quat_w", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 48, + "byte_length": 2, + "unit": "unit quaternion component", + "decode": "value / 65535 * 2 - 1, then divide the four components (x, y, z, w) by their norm", + "range": "-1..1", + "frame": "head_yaw", + "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" + }, + { + "name": "left_hand_lin_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 50, + "byte_length": 2, + "unit": "m/s^2", + "decode": "value / 65535 * 100", + "range": "0..100, clamped", + "description": "left controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps" + }, + { + "name": "right_hand_lin_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 52, + "byte_length": 2, + "unit": "m/s^2", + "decode": "value / 65535 * 100", + "range": "0..100, clamped", + "description": "right controller linear acceleration magnitude as reported by the PICO runtime (gravity already removed), 0 while the controller sleeps" + }, + { + "name": "left_hand_ang_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 54, + "byte_length": 2, + "unit": "rad/s^2", + "decode": "value / 65535 * 500", + "range": "0..500, clamped", + "description": "left controller angular acceleration magnitude as reported by the PICO runtime" + }, + { + "name": "right_hand_ang_accel", + "dtype": "uint16", + "nullable": true, + "wire_type": "uint16, little-endian", + "byte_offset": 56, + "byte_length": 2, + "unit": "rad/s^2", + "decode": "value / 65535 * 500", + "range": "0..500, clamped", + "description": "right controller angular acceleration magnitude as reported by the PICO runtime" + }, + { + "name": "height", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 58, + "byte_length": 1, + "unit": "fraction", + "decode": "value / 255", + "range": "0..1", + "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" + }, + { + "name": "crc", + "dtype": "uint8", + "nullable": true, + "wire_type": "uint8, little-endian", + "byte_offset": 59, + "byte_length": 1, + "unit": "checksum", + "decode": "low byte of the bitwise-inverted CRC-32 (reflected, polynomial 0xEDB88320, initial value 0xFFFFFFFF) over bytes 0..58", + "range": "0..255", + "description": "packet checksum as sent" + } + ], + "summary": { + "packets": 8763, + "crc_errors": 0, + "wrong_size": 0 + } +} \ No newline at end of file diff --git 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