diff --git a/calibration/trajectory_hera_000004.yaml b/calibration/trajectory_hera_000004.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000004.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000009.yaml b/calibration/trajectory_hera_000009.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000009.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000014.yaml b/calibration/trajectory_hera_000014.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000014.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000021.yaml b/calibration/trajectory_hera_000021.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000021.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000027.yaml b/calibration/trajectory_hera_000027.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000027.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000032.yaml b/calibration/trajectory_hera_000032.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000032.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000036.yaml b/calibration/trajectory_hera_000036.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000036.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000039.yaml b/calibration/trajectory_hera_000039.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000039.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000048.yaml b/calibration/trajectory_hera_000048.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000048.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000054.yaml b/calibration/trajectory_hera_000054.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000054.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000062.yaml b/calibration/trajectory_hera_000062.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000062.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000065.yaml b/calibration/trajectory_hera_000065.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000065.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000067.yaml b/calibration/trajectory_hera_000067.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000067.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000069.yaml b/calibration/trajectory_hera_000069.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000069.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000071.yaml b/calibration/trajectory_hera_000071.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000071.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000075.yaml b/calibration/trajectory_hera_000075.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000075.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000079.yaml b/calibration/trajectory_hera_000079.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000079.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000083.yaml b/calibration/trajectory_hera_000083.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000083.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000088.yaml b/calibration/trajectory_hera_000088.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000088.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000089.yaml b/calibration/trajectory_hera_000089.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000089.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000091.yaml b/calibration/trajectory_hera_000091.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000091.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000106.yaml b/calibration/trajectory_hera_000106.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000106.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000108.yaml b/calibration/trajectory_hera_000108.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000108.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000111.yaml b/calibration/trajectory_hera_000111.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000111.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000113.yaml b/calibration/trajectory_hera_000113.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000113.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000123.yaml b/calibration/trajectory_hera_000123.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000123.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000126.yaml b/calibration/trajectory_hera_000126.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000126.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000132.yaml b/calibration/trajectory_hera_000132.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000132.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000139.yaml b/calibration/trajectory_hera_000139.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000139.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000140.yaml b/calibration/trajectory_hera_000140.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000140.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000143.yaml b/calibration/trajectory_hera_000143.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000143.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000144.yaml b/calibration/trajectory_hera_000144.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000144.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000147.yaml b/calibration/trajectory_hera_000147.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000147.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000156.yaml b/calibration/trajectory_hera_000156.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000156.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000157.yaml b/calibration/trajectory_hera_000157.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000157.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000158.yaml b/calibration/trajectory_hera_000158.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000158.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000160.yaml b/calibration/trajectory_hera_000160.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000160.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000161.yaml b/calibration/trajectory_hera_000161.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000161.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000165.yaml b/calibration/trajectory_hera_000165.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000165.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000166.yaml b/calibration/trajectory_hera_000166.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000166.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000167.yaml b/calibration/trajectory_hera_000167.yaml new file mode 100644 index 0000000000000000000000000000000000000000..135dea55a77bddf06d2d56f19794fa106d70086c --- /dev/null +++ b/calibration/trajectory_hera_000167.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 120.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000172.yaml b/calibration/trajectory_hera_000172.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000172.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000177.yaml b/calibration/trajectory_hera_000177.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71be4106c6dd5da9479d665913d43e04af373b84 --- /dev/null +++ b/calibration/trajectory_hera_000177.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 80.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000182.yaml b/calibration/trajectory_hera_000182.yaml new file mode 100644 index 0000000000000000000000000000000000000000..75b58ad46f97f346f5a90005a2b6f51f384a5a6e --- /dev/null +++ b/calibration/trajectory_hera_000182.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: cm + scale_m: 0.01 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 250.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000186.yaml b/calibration/trajectory_hera_000186.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000186.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000192.yaml b/calibration/trajectory_hera_000192.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000192.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000194.yaml b/calibration/trajectory_hera_000194.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000194.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000199.yaml b/calibration/trajectory_hera_000199.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000199.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000201.yaml b/calibration/trajectory_hera_000201.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000201.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000204.yaml b/calibration/trajectory_hera_000204.yaml new file mode 100644 index 0000000000000000000000000000000000000000..91892d382b5c0f5f7370cbbb01f145ac9488817c --- /dev/null +++ b/calibration/trajectory_hera_000204.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_nominal +lidar: + source: simulation + channels: 32 + vertical_fov_deg: + - -30.0 + - 30.0 + horizontal_fov_deg: + - -60.0 + - 60.0 + horizontal_res_deg: 0.5 + max_distance_m: 60.0 + T_base_sensor: + parent: robot base (satellite_mockup) + translation_m: + - 0.17 + - 0.0 + - 0.17 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/calibration/trajectory_hera_000205.yaml b/calibration/trajectory_hera_000205.yaml new file mode 100644 index 0000000000000000000000000000000000000000..47db531c3770da87028c97e1717b04e708f31004 --- /dev/null +++ b/calibration/trajectory_hera_000205.yaml @@ -0,0 +1,94 @@ +rgb: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: &id001 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + - 0.0 + K: &id002 + - 227.27272727272725 + - 0.0 + - 160.0 + - 0.0 + - 227.27272727272725 + - 120.0 + - 0.0 + - 0.0 + - 1.0 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: &id003 + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: &id004 + - 0.0 + - 0.0 + - 0.0 + - 1.0 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +depth: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + unit: mm + scale_m: 0.001 + clipping_range_m: + - 0.01 + - 1000000.0 +semantic: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 +events: + source: simulation + width: 320 + height: 240 + distortion_model: none + D: *id001 + K: *id002 + focal_length_mm: 5.0 + horizontal_aperture_mm: 7.04 + T_base_sensor: *id003 + emulator: v2e + preset: imx636_outdoor_sunlit +lidar: + source: simulation + channels: 16 + vertical_fov_deg: + - -15.0 + - 15.0 + horizontal_fov_deg: + - -180.0 + - 180.0 + horizontal_res_deg: 1.0 + max_distance_m: 10.0 + T_base_sensor: + parent: robot base (base_link) + translation_m: + - 0.21 + - 0.0 + - 0.76 + rotation_xyzw: *id004 + convention: sensor frame x forward, y left, z up; optical frame (z forward, x + right, y down) = sensor frame rotated by rpy(-90, 0, -90) +event_camera_sensor: event_camera_inspect diff --git a/metadata/trajectory_hera_000010.yaml b/metadata/trajectory_hera_000010.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6e6632b3c286551953f1ab07ab30ca8cd3f1e7a7 --- /dev/null +++ b/metadata/trajectory_hera_000010.yaml @@ -0,0 +1,163 @@ +trajectory_dir: zerog_satellite_mockup_arm_ceiling_inspection_00003_20261015T235801_003_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 40000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 24000 + imu: 4800 + joint_states: 14400 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint + arm_ceiling: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + arm_wall: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: inspection + target_kind: satellite_mockup + target_mount: arm_ceiling + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_satellite_mockup_arm_ceiling_inspection_00003 + overrides: + - env.mode=inspection + - env.goal_reached_pos_m=0.25 + - env.target_mount=arm_ceiling + - env.target_kind=satellite_mockup + - env.target_scale=0.85 + - env.fill_light_intensity=53920 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.arc_speed_range=[0.036,0.096] + seed: 1120837120 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 9885.118914045393 + goal_position_error_m: + mean: 0.2956733421313384 + median_second_half: 0.01752866804599762 + final: 0.019605126231908798 + goal_orientation_error_deg: + mean: 1.3223527441928524 + median_second_half: 0.8286112293492669 + final: 0.7758821689567684 +recorded_at: '2026-10-16T00:11:52' +trajectory_id: trajectory_hera_000010 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000011.yaml b/metadata/trajectory_hera_000011.yaml new file mode 100644 index 0000000000000000000000000000000000000000..31553e72a8a4b776924f131723e883df352a6da6 --- /dev/null +++ b/metadata/trajectory_hera_000011.yaml @@ -0,0 +1,163 @@ +trajectory_dir: zerog_satellite_mockup_arm_ceiling_inspection_00003_20261015T235801_003_env000_ep0003 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 3 +end_reason: reset +start_ns: 40008333333 +end_ns: 80000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 24000 + imu: 4800 + joint_states: 14400 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint + arm_ceiling: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + arm_wall: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: inspection + target_kind: satellite_mockup + target_mount: arm_ceiling + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_satellite_mockup_arm_ceiling_inspection_00003 + overrides: + - env.mode=inspection + - env.goal_reached_pos_m=0.25 + - env.target_mount=arm_ceiling + - env.target_kind=satellite_mockup + - env.target_scale=0.85 + - env.fill_light_intensity=53920 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.arc_speed_range=[0.036,0.096] + seed: 1120837120 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 11015.301211237907 + goal_position_error_m: + mean: 0.08987535348282825 + median_second_half: 0.032868511974811554 + final: 0.03135745972394943 + goal_orientation_error_deg: + mean: 5.575577976983625 + median_second_half: 0.6128182327118841 + final: 0.40836335009672237 +recorded_at: '2026-10-16T00:25:01' +trajectory_id: trajectory_hera_000011 +t0_sim_ns: 40000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000022.yaml b/metadata/trajectory_hera_000022.yaml new file mode 100644 index 0000000000000000000000000000000000000000..071fcf3cf8431cedfb4eca4776649d501ffae0df --- /dev/null +++ b/metadata/trajectory_hera_000022.yaml @@ -0,0 +1,137 @@ +trajectory_dir: orbital_satellite_mockup_black_orbit_00006_20261016T003533_006_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 30000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: satellite_mockup + structure_scale: 2.31 + viewpoint_mode: continuous + skydome: false + ambient_light_intensity: 1200.0 +scenario: + name: orbital_satellite_mockup_black_orbit_00006 + overrides: + - env.structure_scale=2.31 + - env.structure_radius=1.548 + - env.viewpoint_radius_range=[3.82,4.2] + - env.orbit_speed_range=[0.059,0.144] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=satellite_mockup + - env.spawn_offset_range=[0.2,0.68] + - env.spawn_attitude_noise_deg=15 + - env.skydome=false + - ++env.ambient_light_intensity=1200 + seed: 1085817287 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8892.932619094849 + goal_position_error_m: + mean: 0.01869197726323953 + median_second_half: 0.010125280357897282 + final: 0.010928025469183922 + goal_orientation_error_deg: + mean: 1.240447248973036 + median_second_half: 0.6911961475416613 + final: 0.6250918158461325 +recorded_at: '2026-10-16T00:41:49' +trajectory_id: trajectory_hera_000022 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000025.yaml b/metadata/trajectory_hera_000025.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d7e5651037cdb277f9da9bb599c2511511c7b696 --- /dev/null +++ b/metadata/trajectory_hera_000025.yaml @@ -0,0 +1,147 @@ +trajectory_dir: zerog_satellite_mockup_floating_docking_00005_20261016T001355_005_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 40000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 19200 + imu: 4800 + joint_states: 4800 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: docking + target_kind: satellite_mockup + target_mount: floating + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_satellite_mockup_floating_docking_00005 + overrides: + - env.mode=docking + - env.goal_reached_pos_m=0.25 + - env.target_mount=floating + - env.target_kind=satellite_mockup + - env.target_scale=0.82 + - env.fill_light_intensity=52703 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.docking_speed_range=[0.044,0.067] + seed: 778339033 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 10277.494144201279 + goal_position_error_m: + mean: 0.21088023538622272 + median_second_half: 0.02061740681529045 + final: 0.020557397976517677 + goal_orientation_error_deg: + mean: 4.6501914528098975 + median_second_half: 0.4131308221373913 + final: 0.41332209411457804 +recorded_at: '2026-10-16T00:26:40' +trajectory_id: trajectory_hera_000025 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000051.yaml b/metadata/trajectory_hera_000051.yaml new file mode 100644 index 0000000000000000000000000000000000000000..924d50f102033feef371e0805203f0610b4cee42 --- /dev/null +++ b/metadata/trajectory_hera_000051.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_satellite_mockup_earth_orbit_00017_20261016T014216_017_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 60008333333 +end_ns: 90000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: satellite_mockup + structure_scale: 2.99 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_satellite_mockup_earth_orbit_00017 + overrides: + - env.structure_scale=2.99 + - env.structure_radius=2.003 + - env.viewpoint_radius_range=[4.03,4.44] + - env.orbit_speed_range=[0.071,0.16] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=satellite_mockup + - env.spawn_offset_range=[0.2,0.7] + - env.spawn_attitude_noise_deg=15 + seed: 1492642415 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8758.007000684738 + goal_position_error_m: + mean: 0.03641463061052056 + median_second_half: 0.008864249102771282 + final: 0.008739512413740158 + goal_orientation_error_deg: + mean: 1.0151540992201626 + median_second_half: 0.301377027845788 + final: 0.4902248748466177 +recorded_at: '2026-10-16T01:59:08' +trajectory_id: trajectory_hera_000051 +t0_sim_ns: 60000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000063.yaml b/metadata/trajectory_hera_000063.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5e5fbe87f7f5f6f25571b9d21643d4a71ac675b4 --- /dev/null +++ b/metadata/trajectory_hera_000063.yaml @@ -0,0 +1,163 @@ +trajectory_dir: zerog_cubesat_arm_wall_docking_00020_20261016T020500_020_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 80008333333 +end_ns: 120000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 24000 + imu: 4800 + joint_states: 14400 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint + arm_ceiling: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + arm_wall: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: docking + target_kind: cubesat + target_mount: arm_wall + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_cubesat_arm_wall_docking_00020 + overrides: + - env.mode=docking + - env.goal_reached_pos_m=0.25 + - env.target_mount=arm_wall + - env.target_kind=cubesat + - env.target_scale=2.72 + - env.fill_light_intensity=37572 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.docking_speed_range=[0.06,0.073] + seed: 293468351 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 9474.533782184124 + goal_position_error_m: + mean: 0.20099957520287354 + median_second_half: 0.02201981656253338 + final: 0.0213615745306015 + goal_orientation_error_deg: + mean: 21.0740585028173 + median_second_half: 0.3957958020238989 + final: 0.4103441049560261 +recorded_at: '2026-10-16T02:41:58' +trajectory_id: trajectory_hera_000063 +t0_sim_ns: 80000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000064.yaml b/metadata/trajectory_hera_000064.yaml new file mode 100644 index 0000000000000000000000000000000000000000..76d7fb72c1f5601d12c8be5ac7913012fc0e419c --- /dev/null +++ b/metadata/trajectory_hera_000064.yaml @@ -0,0 +1,163 @@ +trajectory_dir: zerog_satellite_mockup_arm_ceiling_docking_00021_20261016T021302_021_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 40000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 24000 + imu: 4800 + joint_states: 14400 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint + arm_ceiling: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + arm_wall: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: docking + target_kind: satellite_mockup + target_mount: arm_ceiling + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_satellite_mockup_arm_ceiling_docking_00021 + overrides: + - env.mode=docking + - env.goal_reached_pos_m=0.25 + - env.target_mount=arm_ceiling + - env.target_kind=satellite_mockup + - env.target_scale=1.12 + - env.fill_light_intensity=58928 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.docking_speed_range=[0.033,0.036] + seed: 657263712 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 10450.987138211727 + goal_position_error_m: + mean: 0.17041629965433344 + median_second_half: 0.020082062110304832 + final: 0.02081887610256672 + goal_orientation_error_deg: + mean: 7.105764973506031 + median_second_half: 0.2584543581932825 + final: 0.3811791972000716 +recorded_at: '2026-10-16T02:26:28' +trajectory_id: trajectory_hera_000064 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000093.yaml b/metadata/trajectory_hera_000093.yaml new file mode 100644 index 0000000000000000000000000000000000000000..171a470c80e696a790834e584dd42ec06343b03f --- /dev/null +++ b/metadata/trajectory_hera_000093.yaml @@ -0,0 +1,147 @@ +trajectory_dir: zerog_satellite_mockup_floating_docking_00028_20261016T032011_028_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 80008333333 +end_ns: 120000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 19200 + imu: 4800 + joint_states: 4800 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: docking + target_kind: satellite_mockup + target_mount: floating + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_satellite_mockup_floating_docking_00028 + overrides: + - env.mode=docking + - env.goal_reached_pos_m=0.25 + - env.target_mount=floating + - env.target_kind=satellite_mockup + - env.target_scale=0.97 + - env.fill_light_intensity=54490 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.docking_speed_range=[0.043,0.054] + seed: 938728888 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 11120.035051643848 + goal_position_error_m: + mean: 0.09677022327425103 + median_second_half: 0.022584598511457443 + final: 0.022530071437358856 + goal_orientation_error_deg: + mean: 1.3747513864287972 + median_second_half: 0.5966853792531668 + final: 0.6193478935584162 +recorded_at: '2026-10-16T03:51:50' +trajectory_id: trajectory_hera_000093 +t0_sim_ns: 80000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000094.yaml b/metadata/trajectory_hera_000094.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b8332f88fa36432ad0beb9b4ab010434e539b843 --- /dev/null +++ b/metadata/trajectory_hera_000094.yaml @@ -0,0 +1,163 @@ +trajectory_dir: zerog_satellite_mockup_arm_wall_docking_00031_20261016T035045_031_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 40000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 24000 + imu: 4800 + joint_states: 14400 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint + arm_ceiling: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + arm_wall: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: docking + target_kind: satellite_mockup + target_mount: arm_wall + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_satellite_mockup_arm_wall_docking_00031 + overrides: + - env.mode=docking + - env.goal_reached_pos_m=0.25 + - env.target_mount=arm_wall + - env.target_kind=satellite_mockup + - env.target_scale=1.06 + - env.fill_light_intensity=18359 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.docking_speed_range=[0.039,0.039] + seed: 1565506117 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 10392.106280773878 + goal_position_error_m: + mean: 0.19597747703744772 + median_second_half: 0.019928153604269028 + final: 0.01994629018008709 + goal_orientation_error_deg: + mean: 2.699067287556542 + median_second_half: 0.2805295295907637 + final: 0.4044838026481551 +recorded_at: '2026-10-16T04:04:55' +trajectory_id: trajectory_hera_000094 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000095.yaml b/metadata/trajectory_hera_000095.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20ea0971a51617968df327207ea4f7dd71701f7f --- /dev/null +++ b/metadata/trajectory_hera_000095.yaml @@ -0,0 +1,163 @@ +trajectory_dir: zerog_satellite_mockup_arm_wall_docking_00031_20261016T035045_031_env000_ep0003 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.digital_twin.zerog_lab.task_inspection +env_index: 0 +episode_index: 3 +end_reason: reset +start_ns: 40008333333 +end_ns: 80000000000 +duration_s: 39.991666667000004 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 800 + depth: 800 + semantic: 800 + lidar_scans: 400 + poses: 24000 + imu: 4800 + joint_states: 14400 + steps: 401 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: + robot: + - x_lock_joint + - y_lock_joint + - base_joint + - rw_revolute_joint + arm_ceiling: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint + arm_wall: + - rail_joint + - shoulder_pan_joint + - shoulder_lift_joint + - elbow_joint + - wrist_1_joint + - wrist_2_joint + - wrist_3_joint +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection + robot: FloatingPlatform + action_terms: + robot/thrust: 8 + agent_rate_s: 0.1 + episode_length_s: 40.0 + scenario_type: zerog_lab_inspection + mode: docking + target_kind: satellite_mockup + target_mount: arm_wall + standoff_range_m: + - 1.1 + - 1.6 + arena_x_m: + - 0.4 + - 4.7 + arena_y_m: + - -2.6 + - -0.4 +scenario: + name: zerog_satellite_mockup_arm_wall_docking_00031 + overrides: + - env.mode=docking + - env.goal_reached_pos_m=0.25 + - env.target_mount=arm_wall + - env.target_kind=satellite_mockup + - env.target_scale=1.06 + - env.fill_light_intensity=18359 + - env.event_camera_preset=imx636_outdoor_sunlit + - env.docking_speed_range=[0.039,0.039] + seed: 1565506117 + policy: latest rsl_rl_ppo +summary: + steps: 401 + return: 10981.390766462311 + goal_position_error_m: + mean: 0.10068940822420609 + median_second_half: 0.019860967993736267 + final: 0.01987861841917038 + goal_orientation_error_deg: + mean: 3.6811245332342004 + median_second_half: 0.39168402814355124 + final: 0.4012189455444626 +recorded_at: '2026-10-16T04:17:03' +trajectory_id: trajectory_hera_000095 +t0_sim_ns: 40000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 8 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_speed_near_target + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - viewpoints_reached + - phase + - docking + - docking_goal_distance + - target_distance diff --git a/metadata/trajectory_hera_000100.yaml b/metadata/trajectory_hera_000100.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3bf2a0a948faf9433e187dae52471e8483a07218 --- /dev/null +++ b/metadata/trajectory_hera_000100.yaml @@ -0,0 +1,137 @@ +trajectory_dir: orbital_gateway_black_orbit_00033_20261016T040549_033_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 30000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: gateway + structure_scale: 1.0 + viewpoint_mode: continuous + skydome: false + ambient_light_intensity: 1076.0 +scenario: + name: orbital_gateway_black_orbit_00033 + overrides: + - env.structure_scale=1.0 + - env.structure_radius=26.0 + - env.viewpoint_radius_range=[28.54,31.39] + - env.orbit_speed_range=[0.22,0.394] + - env.camera_clipping_range=[0.05,120.0] + - env.lidar_max_distance=120.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=gateway + - env.spawn_offset_range=[0.2,1.5] + - env.spawn_attitude_noise_deg=15 + - env.skydome=false + - ++env.ambient_light_intensity=1076 + seed: 1483136860 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8331.362596035004 + goal_position_error_m: + mean: 0.09320197286907324 + median_second_half: 0.010341346263885498 + final: 0.010143744759261608 + goal_orientation_error_deg: + mean: 1.4311144323917497 + median_second_half: 0.40560819585984204 + final: 0.40921429561777073 +recorded_at: '2026-10-16T04:15:11' +trajectory_id: trajectory_hera_000100 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000102.yaml b/metadata/trajectory_hera_000102.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a39daf6653de40a4b0a096bbb7708fa1f87c9b23 --- /dev/null +++ b/metadata/trajectory_hera_000102.yaml @@ -0,0 +1,137 @@ +trajectory_dir: orbital_gateway_black_orbit_00033_20261016T040549_033_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 60008333333 +end_ns: 90000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: gateway + structure_scale: 1.0 + viewpoint_mode: continuous + skydome: false + ambient_light_intensity: 1076.0 +scenario: + name: orbital_gateway_black_orbit_00033 + overrides: + - env.structure_scale=1.0 + - env.structure_radius=26.0 + - env.viewpoint_radius_range=[28.54,31.39] + - env.orbit_speed_range=[0.22,0.394] + - env.camera_clipping_range=[0.05,120.0] + - env.lidar_max_distance=120.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=gateway + - env.spawn_offset_range=[0.2,1.5] + - env.spawn_attitude_noise_deg=15 + - env.skydome=false + - ++env.ambient_light_intensity=1076 + seed: 1483136860 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8157.040819644928 + goal_position_error_m: + mean: 0.11677829199934694 + median_second_half: 0.0042594498954713345 + final: 0.004582836292684078 + goal_orientation_error_deg: + mean: 1.2021871472483898 + median_second_half: 0.47766218261140725 + final: 0.5180578423535668 +recorded_at: '2026-10-16T04:31:14' +trajectory_id: trajectory_hera_000102 +t0_sim_ns: 60000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000105.yaml b/metadata/trajectory_hera_000105.yaml new file mode 100644 index 0000000000000000000000000000000000000000..04ecf6ab4fc296a63db5961b6cc6eb14fc6d3c30 --- /dev/null +++ b/metadata/trajectory_hera_000105.yaml @@ -0,0 +1,137 @@ +trajectory_dir: orbital_venus_express_black_orbit_00034_20261016T042702_034_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 60008333333 +end_ns: 90000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: venus_express + structure_scale: 1.0 + viewpoint_mode: continuous + skydome: false + ambient_light_intensity: 1119.0 +scenario: + name: orbital_venus_express_black_orbit_00034 + overrides: + - env.structure_scale=1.0 + - env.structure_radius=4.4 + - env.viewpoint_radius_range=[9.16,10.07] + - env.orbit_speed_range=[0.153,0.283] + - env.camera_clipping_range=[0.05,80.0] + - env.lidar_max_distance=80.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=venus_express + - env.spawn_offset_range=[0.2,1.22] + - env.spawn_attitude_noise_deg=15 + - env.skydome=false + - ++env.ambient_light_intensity=1119 + seed: 1001881216 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8707.132647871971 + goal_position_error_m: + mean: 0.04130534883364231 + median_second_half: 0.003001332050189376 + final: 0.0033146508503705263 + goal_orientation_error_deg: + mean: 0.9943395297967704 + median_second_half: 0.4437170228905166 + final: 0.4495756443315215 +recorded_at: '2026-10-16T04:45:49' +trajectory_id: trajectory_hera_000105 +t0_sim_ns: 60000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000130.yaml b/metadata/trajectory_hera_000130.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b18a00dee74cde3bc174f5463ac7b8156c14f469 --- /dev/null +++ b/metadata/trajectory_hera_000130.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_iss_earth_approach_00042_20261016T054130_042_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 30000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: iss + structure_scale: 1.0 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_iss_earth_approach_00042 + overrides: + - env.structure_scale=1.0 + - env.structure_radius=70.0 + - env.viewpoint_radius_range=[76.39,84.03] + - env.orbit_speed_range=[0.476,0.636] + - env.camera_clipping_range=[0.05,250.0] + - env.lidar_max_distance=250.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=iss + - env.spawn_offset_range=[2.0,4.0] + - env.spawn_attitude_noise_deg=45 + seed: 1919123753 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 5285.763176649809 + goal_position_error_m: + mean: 0.5120309360102562 + median_second_half: 0.01297647412866354 + final: 0.012332749553024769 + goal_orientation_error_deg: + mean: 13.412777079384593 + median_second_half: 0.4683560498672649 + final: 0.5139404655836656 +recorded_at: '2026-10-16T05:49:38' +trajectory_id: trajectory_hera_000130 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000133.yaml b/metadata/trajectory_hera_000133.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86ad41959e9bdffe62558650142a099afe30ea4a --- /dev/null +++ b/metadata/trajectory_hera_000133.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_cubesat_earth_orbit_00046_20261016T060723_046_env000_ep0002 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 2 +end_reason: reset +start_ns: 8333333 +end_ns: 30000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: cubesat + structure_scale: 1.74 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_cubesat_earth_orbit_00046 + overrides: + - env.structure_scale=1.74 + - env.structure_radius=0.783 + - env.viewpoint_radius_range=[1.76,1.93] + - env.orbit_speed_range=[0.146,0.198] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=cubesat + - env.spawn_offset_range=[0.2,0.48] + - env.spawn_attitude_noise_deg=15 + seed: 1063900170 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8574.353831291199 + goal_position_error_m: + mean: 0.0373706398090886 + median_second_half: 0.01303881872445345 + final: 0.1135367900133133 + goal_orientation_error_deg: + mean: 3.7014247800357936 + median_second_half: 1.401752252842312 + final: 7.370784128667274 +recorded_at: '2026-10-16T06:14:23' +trajectory_id: trajectory_hera_000133 +t0_sim_ns: 0 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000134.yaml b/metadata/trajectory_hera_000134.yaml new file mode 100644 index 0000000000000000000000000000000000000000..10068fbd40f9216554247fcc230d5609484954e4 --- /dev/null +++ b/metadata/trajectory_hera_000134.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_cubesat_earth_orbit_00046_20261016T060723_046_env000_ep0003 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 3 +end_reason: reset +start_ns: 30008333333 +end_ns: 60000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: cubesat + structure_scale: 1.74 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_cubesat_earth_orbit_00046 + overrides: + - env.structure_scale=1.74 + - env.structure_radius=0.783 + - env.viewpoint_radius_range=[1.76,1.93] + - env.orbit_speed_range=[0.146,0.198] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=cubesat + - env.spawn_offset_range=[0.2,0.48] + - env.spawn_attitude_noise_deg=15 + seed: 1063900170 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8814.419982910156 + goal_position_error_m: + mean: 0.03211723775463643 + median_second_half: 0.016795767471194267 + final: 0.019626693800091743 + goal_orientation_error_deg: + mean: 1.7087292311400313 + median_second_half: 1.2770432438816344 + final: 1.174023073743509 +recorded_at: '2026-10-16T06:20:11' +trajectory_id: trajectory_hera_000134 +t0_sim_ns: 30000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000135.yaml b/metadata/trajectory_hera_000135.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9d47dd7aa698bbd4c5a6808eaf1a57ff11e48253 --- /dev/null +++ b/metadata/trajectory_hera_000135.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_cubesat_earth_orbit_00046_20261016T060723_046_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 60008333333 +end_ns: 90000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: cubesat + structure_scale: 1.74 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_cubesat_earth_orbit_00046 + overrides: + - env.structure_scale=1.74 + - env.structure_radius=0.783 + - env.viewpoint_radius_range=[1.76,1.93] + - env.orbit_speed_range=[0.146,0.198] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=cubesat + - env.spawn_offset_range=[0.2,0.48] + - env.spawn_attitude_noise_deg=15 + seed: 1063900170 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8667.17176246643 + goal_position_error_m: + mean: 0.04573320273149053 + median_second_half: 0.028152666985988617 + final: 0.0262535959482193 + goal_orientation_error_deg: + mean: 2.814107054354755 + median_second_half: 2.8440273777000753 + final: 1.2423045815978322 +recorded_at: '2026-10-16T06:25:45' +trajectory_id: trajectory_hera_000135 +t0_sim_ns: 60000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000149.yaml b/metadata/trajectory_hera_000149.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d773f7e7b4f491de860c0ac0491188470d7213ee --- /dev/null +++ b/metadata/trajectory_hera_000149.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_satellite_mockup_earth_orbit_00048_20261016T062549_048_env000_ep0003 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 3 +end_reason: reset +start_ns: 30008333333 +end_ns: 60000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: satellite_mockup + structure_scale: 2.39 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_satellite_mockup_earth_orbit_00048 + overrides: + - env.structure_scale=2.39 + - env.structure_radius=1.601 + - env.viewpoint_radius_range=[3.95,4.35] + - env.orbit_speed_range=[0.118,0.21] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=satellite_mockup + - env.spawn_offset_range=[0.2,0.7] + - env.spawn_attitude_noise_deg=15 + seed: 1673901100 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8593.397015571594 + goal_position_error_m: + mean: 0.05616035529619633 + median_second_half: 0.006280477624386549 + final: 0.006153770722448826 + goal_orientation_error_deg: + mean: 0.780425024714104 + median_second_half: 0.12511239032810526 + final: 0.1719701160563976 +recorded_at: '2026-10-16T06:37:05' +trajectory_id: trajectory_hera_000149 +t0_sim_ns: 30000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000152.yaml b/metadata/trajectory_hera_000152.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43f0616071bc7168fa47dd130737c933f522bdde --- /dev/null +++ b/metadata/trajectory_hera_000152.yaml @@ -0,0 +1,137 @@ +trajectory_dir: orbital_cubesat_black_approach_00050_20261016T064158_050_env000_ep0003 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 3 +end_reason: reset +start_ns: 30008333333 +end_ns: 60000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: cubesat + structure_scale: 2.49 + viewpoint_mode: continuous + skydome: false + ambient_light_intensity: 1048.0 +scenario: + name: orbital_cubesat_black_approach_00050 + overrides: + - env.structure_scale=2.49 + - env.structure_radius=1.121 + - env.viewpoint_radius_range=[3.08,3.39] + - env.orbit_speed_range=[0.092,0.124] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=cubesat + - env.spawn_offset_range=[1.0,2.0] + - env.spawn_attitude_noise_deg=60 + - env.skydome=false + - ++env.ambient_light_intensity=1048 + seed: 588515687 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 8168.007136106491 + goal_position_error_m: + mean: 0.10861520538805826 + median_second_half: 0.004755621775984764 + final: 0.004683483392000198 + goal_orientation_error_deg: + mean: 2.311181809004047 + median_second_half: 0.6370999287372496 + final: 0.6606392685771995 +recorded_at: '2026-10-16T06:53:51' +trajectory_id: trajectory_hera_000152 +t0_sim_ns: 30000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000153.yaml b/metadata/trajectory_hera_000153.yaml new file mode 100644 index 0000000000000000000000000000000000000000..48c3b4edc492ff685763427318a4e59e5004b898 --- /dev/null +++ b/metadata/trajectory_hera_000153.yaml @@ -0,0 +1,137 @@ +trajectory_dir: orbital_cubesat_black_approach_00050_20261016T064158_050_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 60008333333 +end_ns: 90000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: cubesat + structure_scale: 2.49 + viewpoint_mode: continuous + skydome: false + ambient_light_intensity: 1048.0 +scenario: + name: orbital_cubesat_black_approach_00050 + overrides: + - env.structure_scale=2.49 + - env.structure_radius=1.121 + - env.viewpoint_radius_range=[3.08,3.39] + - env.orbit_speed_range=[0.092,0.124] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=cubesat + - env.spawn_offset_range=[1.0,2.0] + - env.spawn_attitude_noise_deg=60 + - env.skydome=false + - ++env.ambient_light_intensity=1048 + seed: 588515687 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 7342.116228327155 + goal_position_error_m: + mean: 0.2373433645475854 + median_second_half: 0.00452992832288146 + final: 0.004366233013570309 + goal_orientation_error_deg: + mean: 3.2901650810240173 + median_second_half: 0.29989850533389184 + final: 0.41627913913837045 +recorded_at: '2026-10-16T07:00:10' +trajectory_id: trajectory_hera_000153 +t0_sim_ns: 60000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000174.yaml b/metadata/trajectory_hera_000174.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2f65cd9a5cd2e6803cbbb5adbc8f103422a13e68 --- /dev/null +++ b/metadata/trajectory_hera_000174.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_satellite_mockup_earth_approach_00058_20261016T073351_058_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 60008333333 +end_ns: 90000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: satellite_mockup + structure_scale: 1.25 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_satellite_mockup_earth_approach_00058 + overrides: + - env.structure_scale=1.25 + - env.structure_radius=0.838 + - env.viewpoint_radius_range=[2.45,2.7] + - env.orbit_speed_range=[0.09,0.157] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=satellite_mockup + - env.spawn_offset_range=[1.0,2.0] + - env.spawn_attitude_noise_deg=60 + seed: 2121918407 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 6771.366155605763 + goal_position_error_m: + mean: 0.2684644539778637 + median_second_half: 0.002017086837440729 + final: 0.0020319665782153606 + goal_orientation_error_deg: + mean: 7.589282332099085 + median_second_half: 0.781016550221914 + final: 0.7358317005719591 +recorded_at: '2026-10-16T07:49:47' +trajectory_id: trajectory_hera_000174 +t0_sim_ns: 60000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000183.yaml b/metadata/trajectory_hera_000183.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8d955c254b9a6886ad71f632ed13faa84424bf50 --- /dev/null +++ b/metadata/trajectory_hera_000183.yaml @@ -0,0 +1,135 @@ +trajectory_dir: orbital_iss_earth_approach_00061_20261016T074952_061_env000_ep0004 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 4 +end_reason: reset +start_ns: 60008333333 +end_ns: 90000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: iss + structure_scale: 1.0 + viewpoint_mode: continuous + skydome: low_res + ambient_light_intensity: 0.0 +scenario: + name: orbital_iss_earth_approach_00061 + overrides: + - env.structure_scale=1.0 + - env.structure_radius=70.0 + - env.viewpoint_radius_range=[80.0,88.0] + - env.orbit_speed_range=[0.374,0.607] + - env.camera_clipping_range=[0.05,250.0] + - env.lidar_max_distance=250.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=iss + - env.spawn_offset_range=[2.0,4.0] + - env.spawn_attitude_noise_deg=45 + seed: 1515618645 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 4849.472193792462 + goal_position_error_m: + mean: 0.6404126567790823 + median_second_half: 0.014791863970458508 + final: 0.014385480433702469 + goal_orientation_error_deg: + mean: 10.664047077595752 + median_second_half: 0.6852235206384554 + final: 0.27603246367211853 +recorded_at: '2026-10-16T08:14:48' +trajectory_id: trajectory_hera_000183 +t0_sim_ns: 60000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/metadata/trajectory_hera_000200.yaml b/metadata/trajectory_hera_000200.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b663d592a21fbf9160aefbf1383fa4758c9beac3 --- /dev/null +++ b/metadata/trajectory_hera_000200.yaml @@ -0,0 +1,137 @@ +trajectory_dir: orbital_cubesat_black_approach_00067_20261016T083819_067_env000_ep0003 +source: simulation +simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0) +task: srb.tasks.mobile.inspection.task +env_index: 0 +episode_index: 3 +end_reason: reset +start_ns: 30008333333 +end_ns: 60000000000 +duration_s: 29.991666667 +clock: simulation time (sim.current_time) in ns; shared by all streams and events +rates_hz: + physics_and_render: 120.0 + agent: 10.0 + camera: 20.0 + lidar: 10.0 + state: 120.0 +camera_update_period_s: 0.008333333333333333 +counts: + rgb: 600 + depth: 600 + semantic: 600 + lidar_scans: 300 + poses: 14400 + imu: 3600 + joint_states: 0 + steps: 301 +semantic_classes: + BACKGROUND: 0 + UNLABELLED: 1 + target: 2 + robot_arm: 3 + spacecraft: 4 +articulations: {} +frames_and_units: + world: z-up world frame of the environment origin; metres, seconds + quaternion: xyzw + poses: 'body pose and twist in world frame (v: m/s, w: rad/s)' + imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2, + body); orientation = base quat (world)' + depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001 + = mm), 0 = no return + semantic: uint8 PNG of class IDs (see semantic_classes) + action: raw policy action as applied (see metadata.task_info.action_space) +task_info: + task_cfg: srb.tasks.mobile.inspection.task + robot: SatelliteMockup + action_terms: + robot/thrust: 12 + agent_rate_s: 0.1 + episode_length_s: 30.0 + scenario_type: orbital_inspection + structure_kind: cubesat + structure_scale: 2.97 + viewpoint_mode: continuous + skydome: false + ambient_light_intensity: 1484.0 +scenario: + name: orbital_cubesat_black_approach_00067 + overrides: + - env.structure_scale=2.97 + - env.structure_radius=1.337 + - env.viewpoint_radius_range=[3.22,3.55] + - env.orbit_speed_range=[0.066,0.138] + - env.camera_clipping_range=[0.05,60.0] + - env.lidar_max_distance=60.0 + - env.event_camera_preset=imx636_nominal + - env.structure_kind=cubesat + - env.spawn_offset_range=[1.0,2.0] + - env.spawn_attitude_noise_deg=60 + - env.skydome=false + - ++env.ambient_light_intensity=1484 + seed: 1899266792 + policy: latest rsl_rl_ppo +summary: + steps: 301 + return: 6023.091892465949 + goal_position_error_m: + mean: 0.32120281330269584 + median_second_half: 0.005505734588950872 + final: 0.005391289480030537 + goal_orientation_error_deg: + mean: 13.815682043953876 + median_second_half: 0.68082253093544 + final: 0.672325828968797 +recorded_at: '2026-10-16T08:51:08' +trajectory_id: trajectory_hera_000200 +t0_sim_ns: 30000000000 +steps_layout: + observation: + - name: act_previous + group: state + size: 12 + - name: tf_pos_robot_to_goal + group: state + size: 3 + - name: tf_rot6d_robot + group: state + size: 6 + - name: tf_rot6d_robot_to_goal + group: state + size: 6 + - name: vel_ang_goal + group: state + size: 3 + - name: vel_ang_robot + group: state + size: 3 + - name: vel_lin_goal + group: state + size: 3 + - name: vel_lin_robot + group: state + size: 3 + - name: imu_ang_vel + group: proprio + size: 3 + - name: imu_lin_acc + group: proprio + size: 3 + reward_terms: + - penalty_action_magnitude + - penalty_action_rate + - penalty_angular_velocity + - penalty_orientation_error + - penalty_position_distance + - penalty_velocity_at_target + - reward_orientation_precision + - reward_position_approach + - reward_position_fine + - reward_position_precision + - reward_smooth_station_keeping + task_state: + - orbit_radius + - orbit_speed + - orbit_axis + - viewpoint_direction diff --git a/sim_manifest.json b/sim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9637d656ac5375c88f14bfff5ebbfb1b12b9eb90 --- /dev/null +++ b/sim_manifest.json @@ -0,0 +1,3810 @@ +{ + "groups": { + "sim_3d": "orbital inspection in 3D: a free-flying chaser orbits a static space structure (procedural CubeSats, satellite mockup, Venus Express, Lunar Gateway, ISS) against an Earth or black-sky background", + "sim_zerog": "Zero-G lab digital twin: the planar Floating Platform inspects or docks to a satellite mockup / CubeSat held by the lab's wall or ceiling arm, or floating" + }, + "license": "cc-by-4.0", + "trajectories": { + "trajectory_hera_000001": { + "counts": { + "depth": 600, + "events": 15283199, + "imu": 3600, + "lidar": 300, + "mocap": 14400, + "rgb": 600, + "semantic": 600, + "steps": 301 + }, + "duration_s": 30.0, + "goal_orientation_error_deg": 0.7693334582857543, + "goal_position_error_m": 0.004549694247543812, + "group": "sim_3d", + "scenario": "orbital/cubesat/black", + "source_dir": "orbital_cubesat_black_approach_00000_20261015T234104_001_env000_ep0002" + }, + "trajectory_hera_000002": { + "counts": { + "depth": 600, + "events": 14436742, + "imu": 3600, + "lidar": 300, + "mocap": 14400, + "rgb": 600, + "semantic": 600, + "steps": 301 + }, + "duration_s": 30.0, + "goal_orientation_error_deg": 0.37468224655636145, + "goal_position_error_m": 0.008017105981707573, + "group": "sim_3d", + "scenario": "orbital/cubesat/black", + "source_dir": "orbital_cubesat_black_approach_00000_20261015T234104_001_env000_ep0003" + }, + "trajectory_hera_000003": { + "counts": { + "depth": 600, + "events": 14959975, + "imu": 3600, + "lidar": 300, + "mocap": 14400, + "rgb": 600, + "semantic": 600, + "steps": 301 + }, + "duration_s": 30.0, + "goal_orientation_error_deg": 0.48997381203376683, + "goal_position_error_m": 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