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\"origin_ticks\": 0.0, \"origin_time_ns\": 1793189511563380888, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T12:05:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, 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\"notes\": \"\", \"post_run_notes\": \"\", \"run_length_loops\": 1.5, \"run_valid\": true, \"wheel_parameters\": {\"commanded_wheel_torque_nm\": 3.0, \"control_mode\": \"raw_torque_velocity_capped\", \"max_wheel_speed_rad_s\": 2.0, \"velocity_governor_ki\": 1.0, \"velocity_governor_kp\": 2.0, \"wheel_torque_ramp_time_sec\": 2.0}}, \"stage\": \"stage2_complete\", \"terrain_and_light_ID\": \"KK_03_L2\", \"valid_feature_count\": 56}" }, { "source_id": "172f550a7dd38cea70836786", "experiment_id": "experiment_10", "run_number": "1", "processing_id": "8c918917d28c", "terrain_and_light_ID": "KK_03_L2", "laboratory_id": "KK", "terrain_setup_id": "KK_03", "lighting_id": "L2", "selected_packet_count": 49, "source_packet_count": 50, "maximum_temporal_nonoverlapping_count": 16, "maximum_spatial_nonoverlapping_count": 9, "maximum_encoder_gap_ns": 2000000000, "provenance_json": "{\"camera_driver_config\": {\"accel_rate\": \"100hz\", \"align_mode\": \"SW\", \"align_target_stream\": \"COLOR\", 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1792072400632408605, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T15:50:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": 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\"encoder_smoothing_window_s\": 1.2, \"estimator_version\": 3, \"gravity_initialization_window_s\": 0.2, \"gyro_bias_source\": \"stationary_measurements\", \"gyro_bias_walk_rad_s_sqrt_s\": 0.0005235987755982988, \"impact_recovery_time_s\": 0.1, \"imu_axes\": \"nominal_Gemini_330_optical_right_down_forward\", \"imu_samples\": 3133, \"imu_to_camera_rotation\": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], \"initial_gyro_bias_rad_s\": 0.017790425888352293, \"initial_gyro_bias_uncertainty_rad_s\": 0.0008726646259971648, \"initialized_segments\": 1, \"low_confidence_samples\": 2659, \"maximum_encoder_gap_s\": 0.25, \"maximum_imu_gap_s\": 0.05, \"maximum_two_sigma_uncertainty_deg\": 1.0, \"method\": \"pitch_and_gyro_bias_kalman_filter_with_offline_RTS_smoothing\", \"mounting_uncertainty_floor_deg\": 0.25, \"recorded_imu_frame_ids\": [\"legwheel_rgbd_accel_gyro_optical_frame\"], \"reliable_samples\": 380, \"stationary_calibration_end_time_ns\": 1792072430779273000, \"stationary_calibration_samples\": 74, \"status\": \"available\", \"uncertainty_rejects_packets\": false, \"uninitialized_or_missing_samples\": 94, \"usable_samples\": 3060}, \"pitch_estimator_version\": 3, \"processing_config\": {\"alpha_off_rad\": 0.6, \"alpha_sp_rad\": 0.15, \"depth_scale_m\": 0.001, \"grouser_effective_height_m\": 0.0, \"maximum_interpolation_gap_ms\": 50.0, \"maximum_pitch_uncertainty_deg\": 1.0, \"minimum_plane_points\": 1000, \"minimum_spectral_valid_fraction\": 0.8, \"minimum_target_torque_fraction\": 0.9, \"plane_inlier_threshold_m\": 0.005, \"plane_ransac_iterations\": 200, \"rgb_depth_max_delta_ms\": 10.0, \"schema_version\": \"2.0\", \"source_rate_tolerance_fraction\": 0.05, \"spectral_window_ms\": 1000.0, \"telemetry_resample_hz\": 100.0, \"track_point_count\": 360}, \"requires_regeneration\": false, \"run_config\": {\"leg_parameters\": {\"knee_damping_nms_per_rad\": 1.0, \"knee_spring_zeroposition_rad\": 1.0, \"knee_stiffness_nm_per_rad\": 5.0}, \"notes\": \"\", \"run_length_loops\": 1.0, \"run_valid\": true, \"wheel_parameters\": {\"commanded_wheel_torque_nm\": 3.0, \"wheel_torque_ramp_time_sec\": 2.0}}, \"stage\": \"stage2_complete\", \"terrain_and_light_ID\": \"KK_03_L2\", \"valid_feature_count\": 50}" }, { "source_id": "1856b92f157424780847e9d8", "experiment_id": "experiment_7", "run_number": "8", "processing_id": "11c2f8376a1d", "terrain_and_light_ID": "KK_01_L1", "laboratory_id": "KK", "terrain_setup_id": "KK_01", "lighting_id": "L1", "selected_packet_count": 50, "source_packet_count": 51, "maximum_temporal_nonoverlapping_count": 17, "maximum_spatial_nonoverlapping_count": 9, "maximum_encoder_gap_ns": 2000000000, "provenance_json": "{\"camera_driver_config\": {\"accel_rate\": \"100hz\", \"align_mode\": \"SW\", \"align_target_stream\": \"COLOR\", \"camera_name\": \"legwheel_rgbd\", \"color_camera_info_qos\": \"SENSOR_DATA\", \"color_fps\": 30, \"color_height\": 480, \"color_qos\": \"SENSOR_DATA\", \"color_width\": 640, \"depth_camera_info_qos\": \"SENSOR_DATA\", \"depth_fps\": 30, \"depth_height\": 480, \"depth_qos\": \"SENSOR_DATA\", \"depth_registration\": true, \"depth_width\": 640, \"enable_accel\": true, \"enable_color\": true, \"enable_colored_point_cloud\": false, \"enable_depth\": true, \"enable_depth_scale\": true, \"enable_disparity_to_depth\": true, \"enable_frame_sync\": true, \"enable_gyro\": true, \"enable_left_ir\": false, \"enable_noise_removal_filter\": true, \"enable_point_cloud\": false, \"enable_right_ir\": false, \"enable_sync_host_time\": false, \"enable_sync_output_accel_gyro\": true, \"gyro_rate\": \"100hz\", \"publish_tf\": true, \"tf_publish_rate\": 0.0}, \"dataset_identifier\": \"11c2f8376a1d\", \"encoder_position\": {\"origin\": \"first_recorded_tick\", \"origin_ticks\": 117.0, \"origin_time_ns\": 1792065428230484680, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T13:31:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"encoder_model\": \"Okystar KY-040\", \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": {\"manufacturer\": \"MAB Robotics\", \"name\": \"MA-p-45-36\", \"serial_number\": \"\"}}, \"environment\": {\"environment_description\": \"Kakolewo Analogue Lunar Campus Dome. 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\"color_height\": 480, \"color_qos\": \"SENSOR_DATA\", \"color_width\": 640, \"depth_camera_info_qos\": \"SENSOR_DATA\", \"depth_fps\": 30, \"depth_height\": 480, \"depth_qos\": \"SENSOR_DATA\", \"depth_registration\": true, \"depth_width\": 640, \"enable_accel\": true, \"enable_color\": true, \"enable_colored_point_cloud\": false, \"enable_depth\": true, \"enable_depth_scale\": true, \"enable_disparity_to_depth\": true, \"enable_frame_sync\": true, \"enable_gyro\": true, \"enable_left_ir\": false, \"enable_noise_removal_filter\": true, \"enable_point_cloud\": false, \"enable_right_ir\": false, \"enable_sync_host_time\": false, \"enable_sync_output_accel_gyro\": true, \"gyro_rate\": \"100hz\", \"publish_tf\": true, \"tf_publish_rate\": 0.0}, \"dataset_identifier\": \"27d4c7ded495\", \"encoder_position\": {\"origin\": \"first_recorded_tick\", \"origin_ticks\": 146.0, \"origin_time_ns\": 1793184658973506119, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T10:40:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", 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\"notes\": \"Playing around with different PI settings\", \"post_run_notes\": \"Good run slow speed climbing well\", \"run_length_loops\": 1.0, \"run_valid\": true, \"wheel_parameters\": {\"commanded_wheel_torque_nm\": 3.0, \"control_mode\": \"raw_torque_velocity_capped\", \"max_wheel_speed_rad_s\": 2.0, \"velocity_governor_ki\": 0.2, \"velocity_governor_kp\": 1.0, \"wheel_torque_ramp_time_sec\": 1.0}}, \"stage\": \"stage2_complete\", \"terrain_and_light_ID\": \"KK_03_L2\", \"valid_feature_count\": 37}" }, { "source_id": "1c9e70ffc0210a399f99d1a5", "experiment_id": "experiment_10", "run_number": "4", "processing_id": "8c918917d28c", "terrain_and_light_ID": "KK_03_L2", "laboratory_id": "KK", "terrain_setup_id": "KK_03", "lighting_id": "L2", "selected_packet_count": 50, "source_packet_count": 51, "maximum_temporal_nonoverlapping_count": 15, "maximum_spatial_nonoverlapping_count": 10, "maximum_encoder_gap_ns": 2000000000, "provenance_json": "{\"camera_driver_config\": {\"accel_rate\": 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\"first_recorded_tick\", \"origin_ticks\": 1.0, \"origin_time_ns\": 1792072938335230070, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T15:50:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", 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\"depth_camera_info_qos\": \"SENSOR_DATA\", \"depth_fps\": 30, \"depth_height\": 480, \"depth_qos\": \"SENSOR_DATA\", \"depth_registration\": true, \"depth_width\": 640, \"enable_accel\": true, \"enable_color\": true, \"enable_colored_point_cloud\": false, \"enable_depth\": true, \"enable_depth_scale\": true, \"enable_disparity_to_depth\": true, \"enable_frame_sync\": true, \"enable_gyro\": true, \"enable_left_ir\": false, \"enable_noise_removal_filter\": true, \"enable_point_cloud\": false, \"enable_right_ir\": false, \"enable_sync_host_time\": false, \"enable_sync_output_accel_gyro\": true, \"gyro_rate\": \"100hz\", \"publish_tf\": true, \"tf_publish_rate\": 0.0}, \"dataset_identifier\": \"cb248954287b\", \"encoder_position\": {\"origin\": \"first_recorded_tick\", \"origin_ticks\": 0.0, \"origin_time_ns\": 1793196613495254297, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T14:50:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": {\"manufacturer\": \"MAB Robotics\", \"name\": \"MA-p-45-36\", \"serial_number\": \"\"}}, \"environment\": {\"environment_description\": \"Kakolewo Analogue Lunar Campus Dome. 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\"color_height\": 480, \"color_qos\": \"SENSOR_DATA\", \"color_width\": 640, \"depth_camera_info_qos\": \"SENSOR_DATA\", \"depth_fps\": 30, \"depth_height\": 480, \"depth_qos\": \"SENSOR_DATA\", \"depth_registration\": true, \"depth_width\": 640, \"enable_accel\": true, \"enable_color\": true, \"enable_colored_point_cloud\": false, \"enable_depth\": true, \"enable_depth_scale\": true, \"enable_disparity_to_depth\": true, \"enable_frame_sync\": true, \"enable_gyro\": true, \"enable_left_ir\": false, \"enable_noise_removal_filter\": true, \"enable_point_cloud\": false, \"enable_right_ir\": false, \"enable_sync_host_time\": false, \"enable_sync_output_accel_gyro\": true, \"gyro_rate\": \"100hz\", \"publish_tf\": true, \"tf_publish_rate\": 0.0}, \"dataset_identifier\": \"704e6a6bf6c2\", \"encoder_position\": {\"origin\": \"first_recorded_tick\", \"origin_ticks\": 71.0, \"origin_time_ns\": 1793190769387775821, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": 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One loose rock on the track\", \"run_length_loops\": 1.0, \"run_valid\": true, \"wheel_parameters\": {\"commanded_wheel_torque_nm\": 3.0, \"control_mode\": \"raw_torque_velocity_capped\", \"max_wheel_speed_rad_s\": 2.0, \"velocity_governor_ki\": 1.0, \"velocity_governor_kp\": 2.0, \"wheel_torque_ramp_time_sec\": 2.0}}, \"stage\": \"stage2_complete\", \"terrain_and_light_ID\": \"KK_04_L2\", \"valid_feature_count\": 37}" }, { "source_id": "4d52fc09ab1f440cb689d71a", "experiment_id": "experiment_7", "run_number": "2", "processing_id": "8ed40c413ec2", "terrain_and_light_ID": "KK_01_L1", "laboratory_id": "KK", "terrain_setup_id": "KK_01", "lighting_id": "L1", "selected_packet_count": 17, "source_packet_count": 17, "maximum_temporal_nonoverlapping_count": 5, "maximum_spatial_nonoverlapping_count": 4, "maximum_encoder_gap_ns": 2000000000, "provenance_json": "{\"camera_driver_config\": {\"accel_rate\": \"100hz\", \"align_mode\": \"SW\", \"align_target_stream\": \"COLOR\", \"camera_name\": \"legwheel_rgbd\", \"color_camera_info_qos\": \"SENSOR_DATA\", \"color_fps\": 30, \"color_height\": 480, \"color_qos\": \"SENSOR_DATA\", \"color_width\": 640, \"depth_camera_info_qos\": \"SENSOR_DATA\", \"depth_fps\": 30, \"depth_height\": 480, \"depth_qos\": \"SENSOR_DATA\", \"depth_registration\": true, \"depth_width\": 640, \"enable_accel\": true, \"enable_color\": true, \"enable_colored_point_cloud\": false, \"enable_depth\": true, \"enable_depth_scale\": true, \"enable_disparity_to_depth\": true, \"enable_frame_sync\": true, \"enable_gyro\": true, \"enable_left_ir\": false, \"enable_noise_removal_filter\": true, \"enable_point_cloud\": false, \"enable_right_ir\": false, \"enable_sync_host_time\": false, \"enable_sync_output_accel_gyro\": true, \"gyro_rate\": \"100hz\", \"publish_tf\": true, \"tf_publish_rate\": 0.0}, \"dataset_identifier\": \"8ed40c413ec2\", \"encoder_position\": {\"origin\": \"first_recorded_tick\", \"origin_ticks\": 61.0, \"origin_time_ns\": 1792064188587832047, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T13:31:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"encoder_model\": \"Okystar KY-040\", \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": {\"manufacturer\": \"MAB Robotics\", \"name\": \"MA-p-45-36\", \"serial_number\": \"\"}}, \"environment\": {\"environment_description\": \"Kakolewo Analogue Lunar Campus Dome. 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\"stationary_calibration_end_time_ns\": 1792064220239950000, \"stationary_calibration_samples\": 445, \"status\": \"available\", \"uncertainty_rejects_packets\": false, \"uninitialized_or_missing_samples\": 1251, \"usable_samples\": 2877}, \"pitch_estimator_version\": 3, \"processing_config\": {\"alpha_off_rad\": 0.6, \"alpha_sp_rad\": 0.15, \"depth_scale_m\": 0.001, \"grouser_effective_height_m\": 0.0, \"maximum_interpolation_gap_ms\": 50.0, \"maximum_pitch_uncertainty_deg\": 1.0, \"minimum_plane_points\": 1000, \"minimum_spectral_valid_fraction\": 0.8, \"minimum_target_torque_fraction\": 0.9, \"plane_inlier_threshold_m\": 0.005, \"plane_ransac_iterations\": 200, \"rgb_depth_max_delta_ms\": 10.0, \"schema_version\": \"2.0\", \"source_rate_tolerance_fraction\": 0.05, \"spectral_window_ms\": 1000.0, \"telemetry_resample_hz\": 100.0, \"track_point_count\": 360}, \"requires_regeneration\": false, \"run_config\": {\"leg_parameters\": {\"knee_damping_nms_per_rad\": 1.0, \"knee_spring_zeroposition_rad\": 0.8, \"knee_stiffness_nm_per_rad\": 12.5}, \"notes\": \"Changing the stiffness a bit\", \"run_length_loops\": 1.0, \"run_valid\": true, \"wheel_parameters\": {\"commanded_wheel_torque_nm\": 3.0, \"wheel_torque_ramp_time_sec\": 2.0}}, \"stage\": \"stage2_complete\", \"terrain_and_light_ID\": \"KK_01_L1\", \"valid_feature_count\": 17}" }, { "source_id": "4fd7aa1ea7992c883ef892e0", "experiment_id": "experiment_14", "run_number": "3", "processing_id": "daea2cd6e024", "terrain_and_light_ID": "KK_05_L2", "laboratory_id": "KK", "terrain_setup_id": "KK_05", "lighting_id": "L2", "selected_packet_count": 36, "source_packet_count": 36, "maximum_temporal_nonoverlapping_count": 18, "maximum_spatial_nonoverlapping_count": 14, "maximum_encoder_gap_ns": 2000000000, "provenance_json": "{\"camera_driver_config\": {\"accel_rate\": \"100hz\", \"align_mode\": \"SW\", \"align_target_stream\": \"COLOR\", \"camera_name\": \"legwheel_rgbd\", \"color_camera_info_qos\": \"SENSOR_DATA\", \"color_fps\": 30, \"color_height\": 480, \"color_qos\": \"SENSOR_DATA\", \"color_width\": 640, \"depth_camera_info_qos\": \"SENSOR_DATA\", \"depth_fps\": 30, \"depth_height\": 480, \"depth_qos\": \"SENSOR_DATA\", \"depth_registration\": true, \"depth_width\": 640, \"enable_accel\": true, \"enable_color\": true, \"enable_colored_point_cloud\": false, \"enable_depth\": true, \"enable_depth_scale\": true, \"enable_disparity_to_depth\": true, \"enable_frame_sync\": true, \"enable_gyro\": true, \"enable_left_ir\": false, \"enable_noise_removal_filter\": true, \"enable_point_cloud\": false, \"enable_right_ir\": false, \"enable_sync_host_time\": false, \"enable_sync_output_accel_gyro\": true, \"gyro_rate\": \"100hz\", \"publish_tf\": true, \"tf_publish_rate\": 0.0}, \"dataset_identifier\": \"daea2cd6e024\", \"encoder_position\": {\"origin\": \"first_recorded_tick\", \"origin_ticks\": 14.0, \"origin_time_ns\": 1793194382513761066, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T14:18:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 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\"stationary_calibration_samples\": 530, \"status\": \"available\", \"uncertainty_rejects_packets\": false, \"uninitialized_or_missing_samples\": 24, \"usable_samples\": 4761}, \"pitch_estimator_version\": 3, \"processing_config\": {\"alpha_off_rad\": 0.6, \"alpha_sp_rad\": 0.15, \"depth_scale_m\": 0.001, \"grouser_effective_height_m\": 0.0, \"maximum_interpolation_gap_ms\": 50.0, \"maximum_pitch_uncertainty_deg\": 1.0, \"minimum_plane_points\": 1000, \"minimum_spectral_valid_fraction\": 0.8, \"minimum_target_torque_fraction\": 0.9, \"plane_inlier_threshold_m\": 0.005, \"plane_ransac_iterations\": 200, \"rgb_depth_max_delta_ms\": 10.0, \"schema_version\": \"2.0\", \"source_rate_tolerance_fraction\": 0.05, \"spectral_window_ms\": 1000.0, \"telemetry_resample_hz\": 100.0, \"track_point_count\": 360}, \"requires_regeneration\": false, \"run_config\": {\"leg_parameters\": {\"knee_damping_nms_per_rad\": 1.0, \"knee_spring_zeroposition_rad\": 1.0, \"knee_stiffness_nm_per_rad\": 5.0}, \"notes\": \"\", \"post_run_notes\": \"Light was slightly moved for this run (before it)\", \"run_length_loops\": 1.0, \"run_valid\": true, \"wheel_parameters\": {\"commanded_wheel_torque_nm\": 4.0, \"control_mode\": \"raw_torque_velocity_capped\", \"max_wheel_speed_rad_s\": 2.0, \"velocity_governor_ki\": 1.0, \"velocity_governor_kp\": 2.0, \"wheel_torque_ramp_time_sec\": 1.0}}, \"stage\": \"stage2_complete\", \"terrain_and_light_ID\": \"KK_05_L2\", \"valid_feature_count\": 36}" }, { "source_id": "50a2c011defb36e95256025a", "experiment_id": "experiment_11", "run_number": "1", "processing_id": "6ed7e96ef1a8", "terrain_and_light_ID": "KK_03_L2", "laboratory_id": "KK", "terrain_setup_id": "KK_03", "lighting_id": "L2", "selected_packet_count": 35, "source_packet_count": 36, "maximum_temporal_nonoverlapping_count": 11, "maximum_spatial_nonoverlapping_count": 9, "maximum_encoder_gap_ns": 2000000000, "provenance_json": "{\"camera_driver_config\": {\"accel_rate\": \"100hz\", \"align_mode\": 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\"origin_ticks\": 1.0, \"origin_time_ns\": 1793184334685661215, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T10:40:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": {\"manufacturer\": \"MAB Robotics\", \"name\": \"MA-p-45-36\", \"serial_number\": \"\"}}, \"environment\": {\"environment_description\": \"Kakolewo Analogue Lunar Campus Dome. 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1792064267229590210, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T13:31:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"encoder_model\": \"Okystar KY-040\", \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": 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\"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T15:13:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": {\"manufacturer\": \"MAB Robotics\", \"name\": \"MA-p-45-36\", 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1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T14:50:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": {\"manufacturer\": \"MAB Robotics\", \"name\": 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\"stationary_calibration_samples\": 363, \"status\": \"available\", \"uncertainty_rejects_packets\": false, \"uninitialized_or_missing_samples\": 65, \"usable_samples\": 6007}, \"pitch_estimator_version\": 3, \"processing_config\": {\"alpha_off_rad\": 0.6, \"alpha_sp_rad\": 0.15, \"depth_scale_m\": 0.001, \"grouser_effective_height_m\": 0.0, \"maximum_interpolation_gap_ms\": 50.0, \"maximum_pitch_uncertainty_deg\": 1.0, \"minimum_plane_points\": 1000, \"minimum_spectral_valid_fraction\": 0.8, \"minimum_target_torque_fraction\": 0.9, \"plane_inlier_threshold_m\": 0.005, \"plane_ransac_iterations\": 200, \"rgb_depth_max_delta_ms\": 10.0, \"schema_version\": \"2.0\", \"source_rate_tolerance_fraction\": 0.05, \"spectral_window_ms\": 1000.0, \"telemetry_resample_hz\": 100.0, \"track_point_count\": 360}, \"requires_regeneration\": false, \"run_config\": {\"leg_parameters\": {\"knee_damping_nms_per_rad\": 1.0, \"knee_spring_zeroposition_rad\": 0.7, \"knee_stiffness_nm_per_rad\": 7.5}, 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1792061886592245425, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T11:52:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 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\"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T14:50:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", 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1792062167026545434, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T11:52:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"encoder_model\": \"Okystar KY-040\", \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"wheel_motor\": 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\"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-28T14:18:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"baudrate\": 9600, \"encoder_model\": \"Okystar KY-040\", \"invert_direction\": false, \"port\": \"/dev/ttyUSB0\", \"publish_rate_hz\": 100.0, \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5, \"zero_on_start\": true}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", 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\"origin_ticks\": 254.0, \"origin_time_ns\": 1792061993217709351, \"ticks_per_legwheel_revolution\": 62.5, \"timestamp_source\": \"bag_receipt_time\", \"topic\": \"/rotation_encoder/ticks\"}, \"encoder_position_version\": 1, \"experiment_config\": {\"datetime_of_creation\": \"2026-10-15T11:52:00+02:00\", \"electronics_hardware\": {\"camera\": {\"camera_config\": {\"camera_beam_offset_m\": 0.054, \"camera_front_angle_deg\": 40, \"camera_height_m\": 0.029, \"sensor_front_offset_m\": 0.043}, \"camera_model\": \"Gemini 336\", \"manufacturer\": \"Orbbec\", \"serial_number\": \"CP9E853000B7\"}, \"encoder_setup\": {\"encoder_model\": \"Okystar KY-040\", \"theta_y_kinematic_sign\": -1, \"ticks_per_legwheel_revolution\": 62.5}, \"hip_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", \"serial_number\": \"\"}, \"knee_motor\": {\"manufacturer\": \"Cubemars/MAB Robotics\", \"name\": \"AK60-39 Cubemars (with MD80 Controller)\", 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