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"schema": "oxt-source-field-semantics-v1",
"created_at_utc": "2026-10-16T21:52:04.072923+00:00",
"source_audit": "/mnt/ssd1/data/tianqi/ft/oxt_export_work/selected_sources_audit.json",
"user_confirmed_task_alias": {
"source_task": "insert",
"export_task": "insert pen",
"episode_count": 30
},
"shape_axes": {
"T": "actual per-episode H5 control rows (variable length)",
"F": "all original per-episode FT samples (independent higher-rate stream)"
},
"fields": {
"action/joint_position": {
"shape": [
"T",
7
],
"dtype": "float64",
"units": "radians",
"meaning": "Seven original-order commanded joint targets returned by DROID command conversion; only commanded when command_dispatched=true."
},
"action/cartesian_position": {
"shape": [
"T",
6
],
"dtype": "float64",
"units": [
"m",
"m",
"m",
"rad",
"rad",
"rad"
],
"frame": "original robot model base frame",
"meaning": "Requested EEF position before IK; xyz followed by scipy extrinsic xyz Euler angles. Not FK of joint target and not guaranteed executed pose."
},
"action/cartesian_position_with_ft_offset": {
"shape": [
"T",
6
],
"dtype": "float64",
"units": [
"m",
"m",
"m",
"rad",
"rad",
"rad"
],
"meaning": "Same orientation as original action pose; xyz shifted by R(original Euler xyz)@[0,0,0.063]. Logging-only derived point, not calibrated TCP."
},
"action/cartesian_velocity": {
"shape": [
"T",
6
],
"dtype": "float64",
"units": "legacy dimensionless normalized per-step command; NOT m/s or rad/s",
"implementation": "Independent translation/rotation norm clamp then multiply by max_lin_delta=.075 and max_rot_delta=.15."
},
"action/joint_velocity": {
"shape": [
"T",
7
],
"dtype": "float64",
"units": "legacy dimensionless command; NOT rad/s",
"implementation": "Converted to joint delta using .2 radians scaling and normalized joint limit clamp."
},
"action/input_action": {
"shape": [
"T",
7
],
"dtype": "float64",
"units": "six normalized Cartesian commands plus normalized gripper command",
"meaning": "Raw policy/VR output; may differ from hypothetical hold action stored when skip_action=true."
},
"action/gripper_position": {
"shape": [
"T"
],
"dtype": "float64",
"units": "dimensionless normalized closure",
"meaning": "0 fully open, 1 fully closed; actual width=(1-position)*runtime maximum width, not recorded."
},
"action/gripper_velocity": {
"shape": [
"T"
],
"dtype": "float64",
"units": "dimensionless per-step command, NOT m/s",
"implementation": "Scale by maximum normalized gripper delta .25."
},
"action/command_dispatched": {
"shape": [
"T"
],
"dtype": "bool",
"meaning": "env.step called; does not prove asynchronous command accepted or executed."
},
"action/target_cartesian_position": {
"shape": [
"T",
6
],
"dtype": "float64",
"units": [
"m",
"m",
"m",
"rad",
"rad",
"rad"
],
"meaning": "VR controller target diagnostic, distinct from commanded/cartesian_position. controller_target_valid=true for all selected rows."
},
"action/robot_state/*": {
"meaning": "Robot state used at command conversion; distinct later read from pre-action observation/robot_state."
},
"observation/robot_state/joint_positions": {
"shape": [
"T",
7
],
"dtype": "float64",
"units": "radians",
"meaning": "Measured joint configuration before action."
},
"observation/robot_state/joint_velocities": {
"shape": [
"T",
7
],
"dtype": "float64",
"units": "rad/s",
"meaning": "Robot reported joint velocity, unlike action/joint_velocity normalization."
},
"observation/robot_state/cartesian_position": {
"shape": [
"T",
6
],
"dtype": "float64",
"units": [
"m",
"m",
"m",
"rad",
"rad",
"rad"
],
"frame": "robot model base -> original model EEF",
"meaning": "FK of measured joints reported by robot server. Local config names panda_link8; runtime server model archive absent."
},
"observation/robot_state/cartesian_position_with_ft_offset": {
"shape": [
"T",
6
],
"dtype": "float64",
"units": [
"m",
"m",
"m",
"rad",
"rad",
"rad"
],
"meaning": "Original observation pose with local +Z 0.063m added; orientation unchanged, not full Robotiq TCP."
},
"observation/robot_state/*torques*": {
"shape": [
"T",
7
],
"dtype": "float64",
"units": "Nm",
"meaning": "Computed or measured robot joint torques according to field name; not six-axis FT wrench."
},
"observation/ft_sensor/wrench": {
"shape": [
"T",
6
],
"dtype": "float64",
"channels": [
"Fx",
"Fy",
"Fz",
"Mx",
"My",
"Mz"
],
"units": [
"N",
"N",
"N",
"Nm",
"Nm",
"Nm"
],
"frame": "sensor native measurement frame",
"meaning": "Exactly equal to samples/wrench indexed by observation/ft_sensor/sample_index; no interpolation."
},
"observation/ft_sensor/sample_index": {
"shape": [
"T"
],
"dtype": "int64",
"units": "zero-based index into full sidecar stream",
"meaning": "Causal latest persisted sample before env.get_observation. All selected rows exactly match every nine shared fields."
},
"observation/ft_sensor/age_s": {
"shape": [
"T"
],
"dtype": "float64",
"units": "seconds",
"meaning": "(snapshot_monotonic_ns - receive_monotonic_ns)/1e9, checked exactly within 1e-12."
},
"observation/timestamp/control/*_unix_ns": {
"shape": [
"T"
],
"dtype": "int64",
"units": "Unix UTC nanoseconds from collection host time.time_ns"
},
"observation/timestamp/control/*_monotonic_ns": {
"shape": [
"T"
],
"dtype": "int64",
"units": "collection-host monotonic nanoseconds, same boot as FT sidecar"
},
"observation/timestamp/robot_state/robot_timestamp_*": {
"shape": [
"T"
],
"dtype": "int64",
"units": "remote robot seconds and nanoseconds",
"meaning": "Remote robot clock offset is not measured; observed host read-start minus robot timestamp spans 59.434096331..62.288633917 seconds. Preserve but do not directly align with host FT."
},
"observation/timestamp/cameras/*_frame_received": {
"shape": [
"T"
],
"dtype": "int64",
"units": "Unix milliseconds from ZED TIME_REFERENCE.IMAGE.get_milliseconds()",
"meaning": "Truncated ZED IMAGE time, not time host camera-read completed."
},
"observation/timestamp/cameras/*_estimated_capture": {
"shape": [
"T"
],
"dtype": "int64",
"units": "milliseconds",
"meaning": "IMAGE timestamp minus configured 41ms latency estimate; not measured hardware synchronization."
},
"observation/camera_intrinsics/*": {
"shape": [
"T",
3,
3
],
"dtype": "float64",
"units": "native camera pixel coordinates",
"meaning": "Use matching camera/eye native calibration; resize/crop intrinsics when images transformed."
},
"observation/camera_extrinsics/*": {
"shape": [
"T",
6
],
"dtype": "float64",
"units": [
"m",
"m",
"m",
"rad",
"rad",
"rad"
],
"meaning": "Poses in robot base: external static; wrist obtained by original EEF pose compose stored EEF->camera hand-eye. *_gripper_offset retains stored original EEF->camera transform. No +63mm correction applied."
},
"ft_sensor.h5/samples/wrench": {
"shape": [
"F",
6
],
"dtype": "float64",
"units": [
"N",
"N",
"N",
"Nm",
"Nm",
"Nm"
],
"meaning": "Every successfully host-polled device-calibrated sample; protocol float32 values decoded <6f then exactly represented float64. No software scale/filter/bias/gravity correction, no raw ADC, no claim to contain all internal device samples."
},
"ft_sensor.h5/samples/sample_index": {
"shape": [
"F"
],
"dtype": "int64",
"units": "zero-based sequential sample index"
},
"ft_sensor.h5/samples/packet_no": {
"shape": [
"F"
],
"dtype": "uint16",
"meaning": "Device packet counter modulo65536; counter != +1 does not measure internal sample losses."
},
"ft_sensor.h5/samples/packet_delta": {
"shape": [
"F"
],
"dtype": "int32",
"meaning": "First value -1; otherwise modulo65536 difference from previous received packet."
},
"ft_sensor.h5/samples/packet_discontinuity": {
"shape": [
"F"
],
"dtype": "bool",
"meaning": "Counter delta !=1 after first sample, diagnostic not dropped-sample count."
},
"ft_sensor.h5/samples/{request,receive}_{unix,monotonic}_ns": {
"shape": [
"F"
],
"dtype": "int64",
"units": "host Unix or monotonic nanoseconds bracketing AT+GOD read; not sensor acquisition time"
},
"ft_sensor.h5/samples/source_timestamp_utc": {
"shape": [
"F"
],
"dtype": "HDF5 variable-length UTF-8 string (h5py object)",
"meaning": "ISO UTC from driver host receive time, not sensor clock."
}
},
"camera_calibration_variants": {
"ac4a407ba7d1419f": {
"calibration": {
"16478870_left": {
"pose": [
-0.07779561570279078,
0.03209221245638599,
0.018916426685145177,
-0.3325552284403175,
-0.0028441835148242944,
-1.5832533828648392
],
"timestamp": 1765853161.9186568,
"timestamp_utc": "2025-12-16T02:46:01.918657+00:00"
},
"16478870_right": {
"pose": [
-0.07810542608307787,
-0.031944911531533754,
0.018470365263105117,
-0.33572285737642027,
-0.0006085971714910876,
-1.5749026476301353
],
"timestamp": 1765853164.7194054,
"timestamp_utc": "2025-12-16T02:46:04.719405+00:00"
},
"36087771_left": {
"pose": [
1.0699190823177271,
-0.08348064538498723,
0.5994996855903145,
-2.033196480535443,
-0.04056433323971986,
1.579031504069898
],
"timestamp": 1765853762.3648856,
"timestamp_utc": "2025-12-16T02:56:02.364886+00:00"
},
"36087771_right": {
"pose": [
1.0751255950196918,
0.03780068116153007,
0.6058533678265541,
-2.030397737633933,
-0.040488594232408026,
1.5743226894320683
],
"timestamp": 1765853764.849559,
"timestamp_utc": "2025-12-16T02:56:04.849559+00:00"
}
},
"episode_count": 125
}
},
"calibration_limitations": {
"ft_sensor": "SRI M3813A1",
"interface": "SRI M8228S1",
"units_status": "N/Nm assumed from stored device calibration; device DCPM matrix, ADJZF and related query metadata are available",
"missing": [
"T_eef_sensor",
"T_eef_tcp",
"axis_convention",
"measurement_origin",
"tool_mass_kg",
"tool_com_sensor_m",
"software_bias_N_Nm",
"calibration_timestamp_utc"
],
"no_software_bias_or_gravity_compensation": true,
"mounting_delta_m": 0.063,
"mounting_delta_is_full_tcp": false,
"all_125_action_and_observation_offset_formula_max_error": 0.0,
"old_camera_handeye_valid_after_ft_installation": "unknown; all files use the same December 2025 calibration and no installation-specific recalibration evidence is stored",
"local_eef_name": "panda_link8",
"runtime_robot_model_archive_available": false,
"full_robotiq_tcp_or_oxt_canonical_wrist_transform_available": false
},
"gripper_evidence": {
"recorded_brand": "Robotiq",
"recorded_specific_model": null,
"recorded_maximum_width_m": null,
"local_software_default_stroke_m": 0.085,
"local_default_indicates": "2F-85 configuration only, not independent proof of actual installed 85/140 hardware or remote server runtime settings",
"metadata_max_width_source": "RobotiqGripperClient sets metadata.max_width=self.gripper.stroke; FrankaRobot reads runtime gripper.metadata.max_width",
"urdf_local_arm_model": "config/fr3/franka_panda.yaml references franka_panda/panda_arm.urdf, ee_link_name=panda_link8; no gripper width is stored in this configuration",
"references": [
{
"path": "/home/yygx/PANDA/droid/droid/fairo/polymetis/polymetis/python/polymetis/robot_client/robotiq_gripper/third_party/robotiq_2finger_grippers/robotiq_2f_gripper.py",
"line": 26
},
{
"path": "/home/yygx/PANDA/droid/droid/fairo/polymetis/polymetis/python/polymetis/robot_client/robotiq_gripper/robotiq_gripper_client.py",
"line": 67
},
{
"path": "/home/yygx/PANDA/droid/droid/franka/robot.py",
"line": 38
}
]
},
"conversion_cautions": [
"Keep actual joint and EEF command targets separately from any action derived from future observed states.",
"Keep command_dispatched/skip_action; 3509 of42320 rows are hypothetical hold actions.",
"Keep all295674 high-rate FT samples plus original per-control sample_index/timestamps; do not discard sidecar stream after alignment.",
"All250 existing SVO decode reports contain T-1 images. Do not fabricate a valid image for the unmatched H5 row; preserve exact source frame index/timestamp and explicit validity/missing policy.",
"Camera matrices are old logged estimates; +63mm is not a calibrated EEF-to-camera/sensor/TCP transform.",
"Do not label native FT axes as TCP/base/OXT canonical axes without an actual measured transform.",
"Original action velocity fields are normalized commands; state joint velocities are SI rad/s.",
"Do not silently assign remote robot timestamps to the FT clock. Use collection-host clocks and keep original remote timestamps."
],
"source_code_references": {
"FT_protocol_float32": "/home/yygx/ft-sensor/ft_sensor.py:68",
"FT_metadata": "/home/yygx/PANDA/droid/droid/trajectory_utils/ft_recorder.py:261",
"FT_sample_write": "/home/yygx/PANDA/droid/droid/trajectory_utils/ft_recorder.py:340",
"FT_snapshot_alignment": "/home/yygx/PANDA/droid/droid/trajectory_utils/misc.py:168",
"pose_offset": "/home/yygx/PANDA/droid/droid/trajectory_utils/ft_pose.py:7",
"robot_EEF_FK": "/home/yygx/PANDA/droid/droid/franka/robot.py:158",
"joint_EEF_action_conversion": "/home/yygx/PANDA/droid/droid/franka/robot.py:191",
"camera_extrinsics": "/home/yygx/PANDA/droid/droid/robot_env.py:106",
"camera_calibration_file": "/home/yygx/PANDA/droid/droid/calibration/calibration_utils.py:34",
"camera_timestamp": "/home/yygx/PANDA/droid/droid/camera_utils/camera_readers/zed_camera.py:191",
"stored_conventions": "/home/yygx/PANDA/droid/droid/trajectory_utils/capture_metadata.py:26"
},
"standard_output_conventions": {
"right_arm_joints": "Seven measured joint angles in radians, preserved from native joint_positions.",
"right_wrist_pose": "right_wrist_pose omitted; calibrated FTP-1 gripper transform unavailable",
"right_hand_joints": {
"source": "observation/robot_state/gripper_position",
"formula": "1 - native closure",
"slot": 28,
"units": "dimensionless normalized opening",
"closed": 0,
"open": 1,
"native_fields": "Original observation/action closure values remain unchanged."
},
"native_cartesian_observation": "Preserved unchanged in native H5 and native__observation__robot_state__cartesian_position; no FTP-1 frame alignment is claimed."
}
}
|