{ "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." } }