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Datasets:
r3m3c3
/
off_test

Tags:
robotics
event-camera
multimodal
computer-vision
depth-estimation
lidar
License:
Dataset card Files
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  1. SIM_DATASET.md +31 -8
  2. calibration/trajectory_hera_000208.yaml +94 -0
  3. calibration/trajectory_hera_000209.yaml +94 -0
  4. calibration/trajectory_hera_000210.yaml +94 -0
  5. calibration/trajectory_hera_000211.yaml +94 -0
  6. calibration/trajectory_hera_000212.yaml +94 -0
  7. calibration/trajectory_hera_000213.yaml +94 -0
  8. calibration/trajectory_hera_000214.yaml +94 -0
  9. calibration/trajectory_hera_000215.yaml +94 -0
  10. calibration/trajectory_hera_000216.yaml +94 -0
  11. calibration/trajectory_hera_000217.yaml +94 -0
  12. calibration/trajectory_hera_000218.yaml +94 -0
  13. calibration/trajectory_hera_000219.yaml +94 -0
  14. calibration/trajectory_hera_000220.yaml +94 -0
  15. calibration/trajectory_hera_000221.yaml +94 -0
  16. calibration/trajectory_hera_000222.yaml +94 -0
  17. calibration/trajectory_hera_000223.yaml +94 -0
  18. calibration/trajectory_hera_000224.yaml +94 -0
  19. calibration/trajectory_hera_000225.yaml +94 -0
  20. calibration/trajectory_hera_000226.yaml +94 -0
  21. calibration/trajectory_hera_000227.yaml +94 -0
  22. calibration/trajectory_hera_000228.yaml +94 -0
  23. calibration/trajectory_hera_000229.yaml +94 -0
  24. calibration/trajectory_hera_000230.yaml +94 -0
  25. calibration/trajectory_hera_000231.yaml +94 -0
  26. metadata/trajectory_hera_000208.yaml +137 -0
  27. metadata/trajectory_hera_000209.yaml +137 -0
  28. metadata/trajectory_hera_000210.yaml +137 -0
  29. metadata/trajectory_hera_000211.yaml +137 -0
  30. metadata/trajectory_hera_000212.yaml +137 -0
  31. metadata/trajectory_hera_000213.yaml +137 -0
  32. metadata/trajectory_hera_000214.yaml +135 -0
  33. metadata/trajectory_hera_000215.yaml +135 -0
  34. metadata/trajectory_hera_000216.yaml +135 -0
  35. metadata/trajectory_hera_000217.yaml +135 -0
  36. metadata/trajectory_hera_000218.yaml +135 -0
  37. metadata/trajectory_hera_000219.yaml +135 -0
  38. metadata/trajectory_hera_000220.yaml +137 -0
  39. metadata/trajectory_hera_000221.yaml +137 -0
  40. metadata/trajectory_hera_000222.yaml +137 -0
  41. metadata/trajectory_hera_000223.yaml +135 -0
  42. metadata/trajectory_hera_000224.yaml +135 -0
  43. metadata/trajectory_hera_000225.yaml +135 -0
  44. metadata/trajectory_hera_000226.yaml +135 -0
  45. metadata/trajectory_hera_000227.yaml +135 -0
  46. metadata/trajectory_hera_000228.yaml +135 -0
  47. metadata/trajectory_hera_000229.yaml +147 -0
  48. metadata/trajectory_hera_000230.yaml +147 -0
  49. metadata/trajectory_hera_000231.yaml +147 -0
  50. sim_manifest.json +435 -0
SIM_DATASET.md CHANGED
@@ -1,4 +1,4 @@
1
- # Simulated data
2
 
3
  Simulated counterpart of the real recordings in this repo, from the
4
  [Space Robotics Bench](https://github.com/AndrejOrsula/space_robotics_bench)
@@ -8,10 +8,10 @@ two groups:
8
 
9
  | group | trajectories | content |
10
  |---|---|---|
11
- | `sim_3d_<modality>/` | 132 | 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 |
12
- | `sim_zerog_<modality>/` | 75 | 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 |
13
 
14
- ## Folders
15
 
16
  | modality | sim_3d | sim_zerog | content |
17
  |---|---|---|---|
@@ -33,13 +33,12 @@ scenario, duration and row counts.
33
 
34
  ## Loading
35
 
36
- The sim folders are not configs of the dataset card; load them by path:
37
-
38
  ```python
39
  from datasets import load_dataset
40
 
41
- events = load_dataset("r3m3c3/off_test", data_files={"trajectory_hera_000001": "sim_3d_events/trajectory_hera_000001/*.parquet"})
42
- rgb = load_dataset("r3m3c3/off_test", data_files={"trajectory_hera_000007": "sim_zerog_rgb/trajectory_hera_000007/*.parquet"})
 
43
  ```
44
 
45
  ## Time and frames
@@ -261,3 +260,27 @@ rgb = load_dataset("r3m3c3/off_test", data_files={"trajectory_hera_000007": "sim
261
  | trajectory_hera_000205 | sim_zerog | zerog/satellite_mockup/floating/inspection | 40.0 |
262
  | trajectory_hera_000206 | sim_zerog | zerog/satellite_mockup/floating/inspection | 40.0 |
263
  | trajectory_hera_000207 | sim_zerog | zerog/satellite_mockup/floating/inspection | 40.0 |
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Simulated data (`sim_3d_*`, `sim_zerog_*` configs)
2
 
3
  Simulated counterpart of the real recordings in this repo, from the
4
  [Space Robotics Bench](https://github.com/AndrejOrsula/space_robotics_bench)
 
8
 
9
  | group | trajectories | content |
10
  |---|---|---|
11
+ | `sim_3d_<modality>/` | 153 | 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 |
12
+ | `sim_zerog_<modality>/` | 78 | 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 |
13
 
14
+ ## Configs
15
 
16
  | modality | sim_3d | sim_zerog | content |
17
  |---|---|---|---|
 
33
 
34
  ## Loading
35
 
 
 
36
  ```python
37
  from datasets import load_dataset
38
 
39
+ events = load_dataset("r3m3c3/off_test", "sim_3d_events", split="trajectory_hera_000001")
40
+ rgb = load_dataset("r3m3c3/off_test", "sim_zerog_rgb", split="trajectory_hera_000007")
41
+ joints = load_dataset("r3m3c3/off_test", "sim_zerog_joint_states", split="trajectory_hera_000007")
42
  ```
43
 
44
  ## Time and frames
 
260
  | trajectory_hera_000205 | sim_zerog | zerog/satellite_mockup/floating/inspection | 40.0 |
261
  | trajectory_hera_000206 | sim_zerog | zerog/satellite_mockup/floating/inspection | 40.0 |
262
  | trajectory_hera_000207 | sim_zerog | zerog/satellite_mockup/floating/inspection | 40.0 |
263
+ | trajectory_hera_000208 | sim_3d | orbital/cubesat/black | 30.0 |
264
+ | trajectory_hera_000209 | sim_3d | orbital/cubesat/black | 30.0 |
265
+ | trajectory_hera_000210 | sim_3d | orbital/cubesat/black | 30.0 |
266
+ | trajectory_hera_000211 | sim_3d | orbital/satellite_mockup/black | 30.0 |
267
+ | trajectory_hera_000212 | sim_3d | orbital/satellite_mockup/black | 30.0 |
268
+ | trajectory_hera_000213 | sim_3d | orbital/satellite_mockup/black | 30.0 |
269
+ | trajectory_hera_000214 | sim_3d | orbital/satellite_mockup/earth | 30.0 |
270
+ | trajectory_hera_000215 | sim_3d | orbital/satellite_mockup/earth | 30.0 |
271
+ | trajectory_hera_000216 | sim_3d | orbital/satellite_mockup/earth | 30.0 |
272
+ | trajectory_hera_000217 | sim_3d | orbital/venus_express/earth | 30.0 |
273
+ | trajectory_hera_000218 | sim_3d | orbital/venus_express/earth | 30.0 |
274
+ | trajectory_hera_000219 | sim_3d | orbital/venus_express/earth | 30.0 |
275
+ | trajectory_hera_000220 | sim_3d | orbital/cubesat/black | 30.0 |
276
+ | trajectory_hera_000221 | sim_3d | orbital/cubesat/black | 30.0 |
277
+ | trajectory_hera_000222 | sim_3d | orbital/cubesat/black | 30.0 |
278
+ | trajectory_hera_000223 | sim_3d | orbital/satellite_mockup/earth | 30.0 |
279
+ | trajectory_hera_000224 | sim_3d | orbital/satellite_mockup/earth | 30.0 |
280
+ | trajectory_hera_000225 | sim_3d | orbital/satellite_mockup/earth | 30.0 |
281
+ | trajectory_hera_000226 | sim_3d | orbital/venus_express/earth | 30.0 |
282
+ | trajectory_hera_000227 | sim_3d | orbital/venus_express/earth | 30.0 |
283
+ | trajectory_hera_000228 | sim_3d | orbital/venus_express/earth | 30.0 |
284
+ | trajectory_hera_000229 | sim_zerog | zerog/cubesat/floating/inspection | 40.0 |
285
+ | trajectory_hera_000230 | sim_zerog | zerog/cubesat/floating/inspection | 40.0 |
286
+ | trajectory_hera_000231 | sim_zerog | zerog/cubesat/floating/inspection | 40.0 |
calibration/trajectory_hera_000208.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
13
+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 60.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000209.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
13
+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 60.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000210.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
13
+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 60.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000211.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
+ - 0.0
8
+ - 0.0
9
+ - 0.0
10
+ - 0.0
11
+ - 0.0
12
+ K: &id002
13
+ - 227.27272727272725
14
+ - 0.0
15
+ - 160.0
16
+ - 0.0
17
+ - 227.27272727272725
18
+ - 120.0
19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
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81
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82
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83
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84
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85
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86
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87
+ translation_m:
88
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89
+ - 0.0
90
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91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000212.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
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33
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34
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35
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36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
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40
+ height: 240
41
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42
+ D: *id001
43
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44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
+ K: *id002
69
+ focal_length_mm: 5.0
70
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71
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72
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73
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74
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75
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76
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77
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78
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79
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80
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81
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82
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83
+ horizontal_res_deg: 0.5
84
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85
+ T_base_sensor:
86
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87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000213.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
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34
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35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
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40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
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45
+ horizontal_aperture_mm: 7.04
46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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74
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75
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76
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77
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78
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79
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80
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81
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82
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83
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84
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85
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86
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87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000214.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
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5
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6
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7
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8
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9
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10
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
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34
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35
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36
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37
+ depth:
38
+ source: simulation
39
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40
+ height: 240
41
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42
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43
+ K: *id002
44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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74
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75
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76
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77
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78
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79
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80
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81
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82
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83
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84
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85
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86
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87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000215.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
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5
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6
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7
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8
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9
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10
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11
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
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34
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35
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36
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37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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74
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75
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76
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77
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78
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79
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80
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81
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82
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83
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84
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85
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86
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87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000216.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
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5
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6
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7
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8
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9
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10
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11
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15
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
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34
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35
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36
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37
+ depth:
38
+ source: simulation
39
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40
+ height: 240
41
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42
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43
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44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
+ preset: imx636_nominal
74
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75
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76
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77
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78
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79
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80
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81
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82
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83
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84
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85
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86
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87
+ translation_m:
88
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89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000217.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
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3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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17
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20
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23
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24
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25
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26
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27
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
+ depth:
38
+ source: simulation
39
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40
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41
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42
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43
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44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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74
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75
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76
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77
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78
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79
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80
+ horizontal_fov_deg:
81
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82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 80.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000218.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
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3
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4
+ height: 240
5
+ distortion_model: none
6
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7
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8
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10
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24
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25
+ parent: robot base (satellite_mockup)
26
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27
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28
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29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
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45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
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51
+ - 1000000.0
52
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53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 80.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000219.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
+ - 0.0
20
+ - 0.0
21
+ - 1.0
22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
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28
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29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 80.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000220.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
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24
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25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
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28
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29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
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54
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55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
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64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 60.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000221.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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14
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15
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16
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17
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18
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19
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20
+ - 0.0
21
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22
+ focal_length_mm: 5.0
23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 60.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000222.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
+ horizontal_aperture_mm: 7.04
24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
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28
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29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
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53
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54
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55
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56
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57
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58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 60.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000223.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
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24
+ T_base_sensor: &id003
25
+ parent: robot base (satellite_mockup)
26
+ translation_m:
27
+ - 0.17
28
+ - 0.0
29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
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63
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64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
+ - -30.0
79
+ - 30.0
80
+ horizontal_fov_deg:
81
+ - -60.0
82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 60.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000224.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
+ D: &id001
7
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8
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9
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10
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11
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12
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14
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15
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17
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18
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19
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20
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21
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
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34
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35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
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45
+ horizontal_aperture_mm: 7.04
46
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47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
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51
+ - 1000000.0
52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
+ K: *id002
69
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70
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71
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72
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73
+ preset: imx636_nominal
74
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75
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76
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77
+ vertical_fov_deg:
78
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79
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80
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81
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82
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83
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84
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85
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86
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87
+ translation_m:
88
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89
+ - 0.0
90
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91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000225.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
+ horizontal_aperture_mm: 7.04
24
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25
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26
+ translation_m:
27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
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34
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35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
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42
+ D: *id001
43
+ K: *id002
44
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45
+ horizontal_aperture_mm: 7.04
46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
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63
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64
+ width: 320
65
+ height: 240
66
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67
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68
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69
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70
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71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
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76
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77
+ vertical_fov_deg:
78
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79
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80
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81
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82
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83
+ horizontal_res_deg: 0.5
84
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85
+ T_base_sensor:
86
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87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000226.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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14
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16
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: cm
48
+ scale_m: 0.01
49
+ clipping_range_m:
50
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51
+ - 1000000.0
52
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53
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54
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55
+ height: 240
56
+ distortion_model: none
57
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58
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59
+ focal_length_mm: 5.0
60
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61
+ T_base_sensor: *id003
62
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63
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64
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65
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66
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67
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68
+ K: *id002
69
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70
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71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
+ channels: 32
77
+ vertical_fov_deg:
78
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79
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80
+ horizontal_fov_deg:
81
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82
+ - 60.0
83
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84
+ max_distance_m: 80.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000227.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
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3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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14
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15
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
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47
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48
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49
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50
+ - 0.01
51
+ - 1000000.0
52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
+ K: *id002
69
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70
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71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_nominal
74
+ lidar:
75
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76
+ channels: 32
77
+ vertical_fov_deg:
78
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79
+ - 30.0
80
+ horizontal_fov_deg:
81
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82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 80.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000228.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
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2
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3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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14
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15
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
+ translation_m:
27
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28
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29
+ - 0.17
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
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48
+ scale_m: 0.01
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
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53
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54
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55
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56
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57
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58
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59
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60
+ horizontal_aperture_mm: 7.04
61
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62
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63
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64
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65
+ height: 240
66
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67
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68
+ K: *id002
69
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70
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71
+ T_base_sensor: *id003
72
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73
+ preset: imx636_nominal
74
+ lidar:
75
+ source: simulation
76
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77
+ vertical_fov_deg:
78
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79
+ - 30.0
80
+ horizontal_fov_deg:
81
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82
+ - 60.0
83
+ horizontal_res_deg: 0.5
84
+ max_distance_m: 80.0
85
+ T_base_sensor:
86
+ parent: robot base (satellite_mockup)
87
+ translation_m:
88
+ - 0.17
89
+ - 0.0
90
+ - 0.17
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000229.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
+ translation_m:
27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
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42
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43
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44
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45
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46
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47
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48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
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53
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54
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55
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56
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57
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58
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59
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60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
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63
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64
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65
+ height: 240
66
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67
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68
+ K: *id002
69
+ focal_length_mm: 5.0
70
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71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_outdoor_sunlit
74
+ lidar:
75
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76
+ channels: 16
77
+ vertical_fov_deg:
78
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79
+ - 15.0
80
+ horizontal_fov_deg:
81
+ - -180.0
82
+ - 180.0
83
+ horizontal_res_deg: 1.0
84
+ max_distance_m: 10.0
85
+ T_base_sensor:
86
+ parent: robot base (base_link)
87
+ translation_m:
88
+ - 0.21
89
+ - 0.0
90
+ - 0.76
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000230.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
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4
+ height: 240
5
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6
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7
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8
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9
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10
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11
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12
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14
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15
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16
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17
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18
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19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
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34
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35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
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42
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43
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44
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45
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46
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47
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48
+ scale_m: 0.001
49
+ clipping_range_m:
50
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51
+ - 1000000.0
52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
+ preset: imx636_outdoor_sunlit
74
+ lidar:
75
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76
+ channels: 16
77
+ vertical_fov_deg:
78
+ - -15.0
79
+ - 15.0
80
+ horizontal_fov_deg:
81
+ - -180.0
82
+ - 180.0
83
+ horizontal_res_deg: 1.0
84
+ max_distance_m: 10.0
85
+ T_base_sensor:
86
+ parent: robot base (base_link)
87
+ translation_m:
88
+ - 0.21
89
+ - 0.0
90
+ - 0.76
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
calibration/trajectory_hera_000231.yaml ADDED
@@ -0,0 +1,94 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ rgb:
2
+ source: simulation
3
+ width: 320
4
+ height: 240
5
+ distortion_model: none
6
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7
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8
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9
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10
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11
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17
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20
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23
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24
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25
+ parent: robot base (base_link)
26
+ translation_m:
27
+ - 0.21
28
+ - 0.0
29
+ - 0.76
30
+ rotation_xyzw: &id004
31
+ - 0.0
32
+ - 0.0
33
+ - 0.0
34
+ - 1.0
35
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
36
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
37
+ depth:
38
+ source: simulation
39
+ width: 320
40
+ height: 240
41
+ distortion_model: none
42
+ D: *id001
43
+ K: *id002
44
+ focal_length_mm: 5.0
45
+ horizontal_aperture_mm: 7.04
46
+ T_base_sensor: *id003
47
+ unit: mm
48
+ scale_m: 0.001
49
+ clipping_range_m:
50
+ - 0.01
51
+ - 1000000.0
52
+ semantic:
53
+ source: simulation
54
+ width: 320
55
+ height: 240
56
+ distortion_model: none
57
+ D: *id001
58
+ K: *id002
59
+ focal_length_mm: 5.0
60
+ horizontal_aperture_mm: 7.04
61
+ T_base_sensor: *id003
62
+ events:
63
+ source: simulation
64
+ width: 320
65
+ height: 240
66
+ distortion_model: none
67
+ D: *id001
68
+ K: *id002
69
+ focal_length_mm: 5.0
70
+ horizontal_aperture_mm: 7.04
71
+ T_base_sensor: *id003
72
+ emulator: v2e
73
+ preset: imx636_outdoor_sunlit
74
+ lidar:
75
+ source: simulation
76
+ channels: 16
77
+ vertical_fov_deg:
78
+ - -15.0
79
+ - 15.0
80
+ horizontal_fov_deg:
81
+ - -180.0
82
+ - 180.0
83
+ horizontal_res_deg: 1.0
84
+ max_distance_m: 10.0
85
+ T_base_sensor:
86
+ parent: robot base (base_link)
87
+ translation_m:
88
+ - 0.21
89
+ - 0.0
90
+ - 0.76
91
+ rotation_xyzw: *id004
92
+ convention: sensor frame x forward, y left, z up; optical frame (z forward, x
93
+ right, y down) = sensor frame rotated by rpy(-90, 0, -90)
94
+ event_camera_sensor: event_camera_inspect
metadata/trajectory_hera_000208.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_cubesat_black_orbit_00072_20261016T091029_072_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
+ episode_index: 2
7
+ end_reason: reset
8
+ start_ns: 8333333
9
+ end_ns: 30000000000
10
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11
+ clock: simulation time (sim.current_time) in ns; shared by all streams and events
12
+ rates_hz:
13
+ physics_and_render: 120.0
14
+ agent: 10.0
15
+ camera: 20.0
16
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17
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18
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19
+ counts:
20
+ rgb: 600
21
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22
+ semantic: 600
23
+ lidar_scans: 300
24
+ poses: 14400
25
+ imu: 3600
26
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27
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28
+ semantic_classes:
29
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30
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31
+ target: 2
32
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33
+ spacecraft: 4
34
+ articulations: {}
35
+ frames_and_units:
36
+ world: z-up world frame of the environment origin; metres, seconds
37
+ quaternion: xyzw
38
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
+ robot/thrust: 12
50
+ agent_rate_s: 0.1
51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: cubesat
54
+ structure_scale: 2.27
55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 1018.0
58
+ scenario:
59
+ name: orbital_cubesat_black_orbit_00072
60
+ overrides:
61
+ - env.structure_scale=2.27
62
+ - env.structure_radius=1.022
63
+ - env.viewpoint_radius_range=[2.74,3.01]
64
+ - env.orbit_speed_range=[0.051,0.184]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=cubesat
69
+ - env.spawn_offset_range=[0.2,0.57]
70
+ - env.spawn_attitude_noise_deg=15
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=1018
73
+ seed: 1530521357
74
+ policy: latest rsl_rl_ppo
75
+ summary:
76
+ steps: 301
77
+ return: 8906.292430877686
78
+ goal_position_error_m:
79
+ mean: 0.01896485365599245
80
+ median_second_half: 0.007452054880559444
81
+ final: 0.007588760461658239
82
+ goal_orientation_error_deg:
83
+ mean: 0.781038242915482
84
+ median_second_half: 0.4969811592353768
85
+ final: 0.7710816665481602
86
+ recorded_at: '2026-10-16T09:16:20'
87
+ trajectory_id: trajectory_hera_000208
88
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89
+ steps_layout:
90
+ observation:
91
+ - name: act_previous
92
+ group: state
93
+ size: 12
94
+ - name: tf_pos_robot_to_goal
95
+ group: state
96
+ size: 3
97
+ - name: tf_rot6d_robot
98
+ group: state
99
+ size: 6
100
+ - name: tf_rot6d_robot_to_goal
101
+ group: state
102
+ size: 6
103
+ - name: vel_ang_goal
104
+ group: state
105
+ size: 3
106
+ - name: vel_ang_robot
107
+ group: state
108
+ size: 3
109
+ - name: vel_lin_goal
110
+ group: state
111
+ size: 3
112
+ - name: vel_lin_robot
113
+ group: state
114
+ size: 3
115
+ - name: imu_ang_vel
116
+ group: proprio
117
+ size: 3
118
+ - name: imu_lin_acc
119
+ group: proprio
120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000209.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_cubesat_black_orbit_00072_20261016T091029_072_env000_ep0003
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
+ episode_index: 3
7
+ end_reason: reset
8
+ start_ns: 30008333333
9
+ end_ns: 60000000000
10
+ duration_s: 29.991666667
11
+ clock: simulation time (sim.current_time) in ns; shared by all streams and events
12
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13
+ physics_and_render: 120.0
14
+ agent: 10.0
15
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16
+ lidar: 10.0
17
+ state: 120.0
18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
+ rgb: 600
21
+ depth: 600
22
+ semantic: 600
23
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24
+ poses: 14400
25
+ imu: 3600
26
+ joint_states: 0
27
+ steps: 301
28
+ semantic_classes:
29
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30
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31
+ target: 2
32
+ robot_arm: 3
33
+ spacecraft: 4
34
+ articulations: {}
35
+ frames_and_units:
36
+ world: z-up world frame of the environment origin; metres, seconds
37
+ quaternion: xyzw
38
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
+ robot/thrust: 12
50
+ agent_rate_s: 0.1
51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: cubesat
54
+ structure_scale: 2.27
55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 1018.0
58
+ scenario:
59
+ name: orbital_cubesat_black_orbit_00072
60
+ overrides:
61
+ - env.structure_scale=2.27
62
+ - env.structure_radius=1.022
63
+ - env.viewpoint_radius_range=[2.74,3.01]
64
+ - env.orbit_speed_range=[0.051,0.184]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=cubesat
69
+ - env.spawn_offset_range=[0.2,0.57]
70
+ - env.spawn_attitude_noise_deg=15
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=1018
73
+ seed: 1530521357
74
+ policy: latest rsl_rl_ppo
75
+ summary:
76
+ steps: 301
77
+ return: 8772.996703624725
78
+ goal_position_error_m:
79
+ mean: 0.03376479238423324
80
+ median_second_half: 0.004552231635898352
81
+ final: 0.004574342165142298
82
+ goal_orientation_error_deg:
83
+ mean: 1.0724354916857466
84
+ median_second_half: 0.43904391951818494
85
+ final: 0.4183482062092083
86
+ recorded_at: '2026-10-16T09:21:55'
87
+ trajectory_id: trajectory_hera_000209
88
+ t0_sim_ns: 30000000000
89
+ steps_layout:
90
+ observation:
91
+ - name: act_previous
92
+ group: state
93
+ size: 12
94
+ - name: tf_pos_robot_to_goal
95
+ group: state
96
+ size: 3
97
+ - name: tf_rot6d_robot
98
+ group: state
99
+ size: 6
100
+ - name: tf_rot6d_robot_to_goal
101
+ group: state
102
+ size: 6
103
+ - name: vel_ang_goal
104
+ group: state
105
+ size: 3
106
+ - name: vel_ang_robot
107
+ group: state
108
+ size: 3
109
+ - name: vel_lin_goal
110
+ group: state
111
+ size: 3
112
+ - name: vel_lin_robot
113
+ group: state
114
+ size: 3
115
+ - name: imu_ang_vel
116
+ group: proprio
117
+ size: 3
118
+ - name: imu_lin_acc
119
+ group: proprio
120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000210.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_cubesat_black_orbit_00072_20261016T091029_072_env000_ep0004
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
+ episode_index: 4
7
+ end_reason: reset
8
+ start_ns: 60008333333
9
+ end_ns: 90000000000
10
+ duration_s: 29.991666667
11
+ clock: simulation time (sim.current_time) in ns; shared by all streams and events
12
+ rates_hz:
13
+ physics_and_render: 120.0
14
+ agent: 10.0
15
+ camera: 20.0
16
+ lidar: 10.0
17
+ state: 120.0
18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
+ rgb: 600
21
+ depth: 600
22
+ semantic: 600
23
+ lidar_scans: 300
24
+ poses: 14400
25
+ imu: 3600
26
+ joint_states: 0
27
+ steps: 301
28
+ semantic_classes:
29
+ BACKGROUND: 0
30
+ UNLABELLED: 1
31
+ target: 2
32
+ robot_arm: 3
33
+ spacecraft: 4
34
+ articulations: {}
35
+ frames_and_units:
36
+ world: z-up world frame of the environment origin; metres, seconds
37
+ quaternion: xyzw
38
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
+ robot/thrust: 12
50
+ agent_rate_s: 0.1
51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: cubesat
54
+ structure_scale: 2.27
55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 1018.0
58
+ scenario:
59
+ name: orbital_cubesat_black_orbit_00072
60
+ overrides:
61
+ - env.structure_scale=2.27
62
+ - env.structure_radius=1.022
63
+ - env.viewpoint_radius_range=[2.74,3.01]
64
+ - env.orbit_speed_range=[0.051,0.184]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=cubesat
69
+ - env.spawn_offset_range=[0.2,0.57]
70
+ - env.spawn_attitude_noise_deg=15
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=1018
73
+ seed: 1530521357
74
+ policy: latest rsl_rl_ppo
75
+ summary:
76
+ steps: 301
77
+ return: 8821.856518745422
78
+ goal_position_error_m:
79
+ mean: 0.024855933976715486
80
+ median_second_half: 0.0050857593305408955
81
+ final: 0.007774860132485628
82
+ goal_orientation_error_deg:
83
+ mean: 1.7812858284628568
84
+ median_second_half: 1.4414754591163428
85
+ final: 1.034137811333886
86
+ recorded_at: '2026-10-16T09:27:29'
87
+ trajectory_id: trajectory_hera_000210
88
+ t0_sim_ns: 60000000000
89
+ steps_layout:
90
+ observation:
91
+ - name: act_previous
92
+ group: state
93
+ size: 12
94
+ - name: tf_pos_robot_to_goal
95
+ group: state
96
+ size: 3
97
+ - name: tf_rot6d_robot
98
+ group: state
99
+ size: 6
100
+ - name: tf_rot6d_robot_to_goal
101
+ group: state
102
+ size: 6
103
+ - name: vel_ang_goal
104
+ group: state
105
+ size: 3
106
+ - name: vel_ang_robot
107
+ group: state
108
+ size: 3
109
+ - name: vel_lin_goal
110
+ group: state
111
+ size: 3
112
+ - name: vel_lin_robot
113
+ group: state
114
+ size: 3
115
+ - name: imu_ang_vel
116
+ group: proprio
117
+ size: 3
118
+ - name: imu_lin_acc
119
+ group: proprio
120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000211.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_black_orbit_00070_20261016T085706_070_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
+ episode_index: 2
7
+ end_reason: reset
8
+ start_ns: 8333333
9
+ end_ns: 30000000000
10
+ duration_s: 29.991666667
11
+ clock: simulation time (sim.current_time) in ns; shared by all streams and events
12
+ rates_hz:
13
+ physics_and_render: 120.0
14
+ agent: 10.0
15
+ camera: 20.0
16
+ lidar: 10.0
17
+ state: 120.0
18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
+ rgb: 600
21
+ depth: 600
22
+ semantic: 600
23
+ lidar_scans: 300
24
+ poses: 14400
25
+ imu: 3600
26
+ joint_states: 0
27
+ steps: 301
28
+ semantic_classes:
29
+ BACKGROUND: 0
30
+ UNLABELLED: 1
31
+ target: 2
32
+ robot_arm: 3
33
+ spacecraft: 4
34
+ articulations: {}
35
+ frames_and_units:
36
+ world: z-up world frame of the environment origin; metres, seconds
37
+ quaternion: xyzw
38
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
+ robot/thrust: 12
50
+ agent_rate_s: 0.1
51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: satellite_mockup
54
+ structure_scale: 1.15
55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 696.0
58
+ scenario:
59
+ name: orbital_satellite_mockup_black_orbit_00070
60
+ overrides:
61
+ - env.structure_scale=1.15
62
+ - env.structure_radius=0.77
63
+ - env.viewpoint_radius_range=[2.49,2.74]
64
+ - env.orbit_speed_range=[0.067,0.179]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=satellite_mockup
69
+ - env.spawn_offset_range=[0.2,0.55]
70
+ - env.spawn_attitude_noise_deg=15
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=696
73
+ seed: 541503738
74
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75
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76
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77
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78
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79
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80
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81
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83
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87
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88
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89
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90
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91
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92
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93
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94
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96
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97
+ - name: tf_rot6d_robot
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99
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100
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102
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105
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108
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111
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112
+ - name: vel_lin_robot
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114
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115
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116
+ group: proprio
117
+ size: 3
118
+ - name: imu_lin_acc
119
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120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000212.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_black_orbit_00070_20261016T085706_070_env000_ep0003
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
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6
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7
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8
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13
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14
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18
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+ counts:
20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
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49
+ robot/thrust: 12
50
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51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
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54
+ structure_scale: 1.15
55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 696.0
58
+ scenario:
59
+ name: orbital_satellite_mockup_black_orbit_00070
60
+ overrides:
61
+ - env.structure_scale=1.15
62
+ - env.structure_radius=0.77
63
+ - env.viewpoint_radius_range=[2.49,2.74]
64
+ - env.orbit_speed_range=[0.067,0.179]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=satellite_mockup
69
+ - env.spawn_offset_range=[0.2,0.55]
70
+ - env.spawn_attitude_noise_deg=15
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=696
73
+ seed: 541503738
74
+ policy: latest rsl_rl_ppo
75
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76
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77
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78
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79
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80
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83
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87
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88
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89
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90
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91
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92
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93
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94
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95
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96
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97
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98
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99
+ size: 6
100
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102
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103
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104
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105
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106
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107
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108
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109
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110
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111
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112
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114
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115
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116
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117
+ size: 3
118
+ - name: imu_lin_acc
119
+ group: proprio
120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000213.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_black_orbit_00070_20261016T085706_070_env000_ep0004
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
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7
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8
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9
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10
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11
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12
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13
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14
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15
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17
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18
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20
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21
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25
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26
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27
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
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50
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51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
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54
+ structure_scale: 1.15
55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 696.0
58
+ scenario:
59
+ name: orbital_satellite_mockup_black_orbit_00070
60
+ overrides:
61
+ - env.structure_scale=1.15
62
+ - env.structure_radius=0.77
63
+ - env.viewpoint_radius_range=[2.49,2.74]
64
+ - env.orbit_speed_range=[0.067,0.179]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=satellite_mockup
69
+ - env.spawn_offset_range=[0.2,0.55]
70
+ - env.spawn_attitude_noise_deg=15
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=696
73
+ seed: 541503738
74
+ policy: latest rsl_rl_ppo
75
+ summary:
76
+ steps: 301
77
+ return: 8846.93494796753
78
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79
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80
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81
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82
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83
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84
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85
+ final: 0.5955218458558845
86
+ recorded_at: '2026-10-16T09:11:36'
87
+ trajectory_id: trajectory_hera_000213
88
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89
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90
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91
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92
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93
+ size: 12
94
+ - name: tf_pos_robot_to_goal
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+ group: state
96
+ size: 3
97
+ - name: tf_rot6d_robot
98
+ group: state
99
+ size: 6
100
+ - name: tf_rot6d_robot_to_goal
101
+ group: state
102
+ size: 6
103
+ - name: vel_ang_goal
104
+ group: state
105
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106
+ - name: vel_ang_robot
107
+ group: state
108
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109
+ - name: vel_lin_goal
110
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111
+ size: 3
112
+ - name: vel_lin_robot
113
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114
+ size: 3
115
+ - name: imu_ang_vel
116
+ group: proprio
117
+ size: 3
118
+ - name: imu_lin_acc
119
+ group: proprio
120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000214.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_earth_orbit_00069_20261016T085623_069_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
+ episode_index: 2
7
+ end_reason: reset
8
+ start_ns: 8333333
9
+ end_ns: 30000000000
10
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11
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12
+ rates_hz:
13
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14
+ agent: 10.0
15
+ camera: 20.0
16
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17
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18
+ camera_update_period_s: 0.008333333333333333
19
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20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
+ quaternion: xyzw
38
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
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50
+ agent_rate_s: 0.1
51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: satellite_mockup
54
+ structure_scale: 3.33
55
+ viewpoint_mode: continuous
56
+ skydome: low_res
57
+ ambient_light_intensity: 0.0
58
+ scenario:
59
+ name: orbital_satellite_mockup_earth_orbit_00069
60
+ overrides:
61
+ - env.structure_scale=3.33
62
+ - env.structure_radius=2.231
63
+ - env.viewpoint_radius_range=[4.91,5.4]
64
+ - env.orbit_speed_range=[0.166,0.226]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=satellite_mockup
69
+ - env.spawn_offset_range=[0.2,0.79]
70
+ - env.spawn_attitude_noise_deg=15
71
+ seed: 247963604
72
+ policy: latest rsl_rl_ppo
73
+ summary:
74
+ steps: 301
75
+ return: 8835.782054901123
76
+ goal_position_error_m:
77
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78
+ median_second_half: 0.005809636786580086
79
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80
+ goal_orientation_error_deg:
81
+ mean: 0.5833699384075633
82
+ median_second_half: 0.4214005537162635
83
+ final: 0.5275881440407031
84
+ recorded_at: '2026-10-16T09:01:29'
85
+ trajectory_id: trajectory_hera_000214
86
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87
+ steps_layout:
88
+ observation:
89
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90
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91
+ size: 12
92
+ - name: tf_pos_robot_to_goal
93
+ group: state
94
+ size: 3
95
+ - name: tf_rot6d_robot
96
+ group: state
97
+ size: 6
98
+ - name: tf_rot6d_robot_to_goal
99
+ group: state
100
+ size: 6
101
+ - name: vel_ang_goal
102
+ group: state
103
+ size: 3
104
+ - name: vel_ang_robot
105
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106
+ size: 3
107
+ - name: vel_lin_goal
108
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109
+ size: 3
110
+ - name: vel_lin_robot
111
+ group: state
112
+ size: 3
113
+ - name: imu_ang_vel
114
+ group: proprio
115
+ size: 3
116
+ - name: imu_lin_acc
117
+ group: proprio
118
+ size: 3
119
+ reward_terms:
120
+ - penalty_action_magnitude
121
+ - penalty_action_rate
122
+ - penalty_angular_velocity
123
+ - penalty_orientation_error
124
+ - penalty_position_distance
125
+ - penalty_velocity_at_target
126
+ - reward_orientation_precision
127
+ - reward_position_approach
128
+ - reward_position_fine
129
+ - reward_position_precision
130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000215.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_earth_orbit_00069_20261016T085623_069_env000_ep0003
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
+ episode_index: 3
7
+ end_reason: reset
8
+ start_ns: 30008333333
9
+ end_ns: 60000000000
10
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11
+ clock: simulation time (sim.current_time) in ns; shared by all streams and events
12
+ rates_hz:
13
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14
+ agent: 10.0
15
+ camera: 20.0
16
+ lidar: 10.0
17
+ state: 120.0
18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
+ rgb: 600
21
+ depth: 600
22
+ semantic: 600
23
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24
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25
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26
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27
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28
+ semantic_classes:
29
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30
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31
+ target: 2
32
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33
+ spacecraft: 4
34
+ articulations: {}
35
+ frames_and_units:
36
+ world: z-up world frame of the environment origin; metres, seconds
37
+ quaternion: xyzw
38
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
+ robot/thrust: 12
50
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51
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52
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53
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54
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55
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56
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57
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58
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59
+ name: orbital_satellite_mockup_earth_orbit_00069
60
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61
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62
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63
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64
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66
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69
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70
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71
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72
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73
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75
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77
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88
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116
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118
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122
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123
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124
+ - penalty_position_distance
125
+ - penalty_velocity_at_target
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+ - reward_orientation_precision
127
+ - reward_position_approach
128
+ - reward_position_fine
129
+ - reward_position_precision
130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000216.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_earth_orbit_00069_20261016T085623_069_env000_ep0004
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
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40
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41
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42
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43
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44
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45
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46
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47
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48
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49
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50
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53
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54
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55
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56
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57
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59
+ name: orbital_satellite_mockup_earth_orbit_00069
60
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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88
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116
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118
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121
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122
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123
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124
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125
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127
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128
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129
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130
+ - reward_smooth_station_keeping
131
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132
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133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000217.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_venus_express_earth_approach_00071_20261016T085935_071_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
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34
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35
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38
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39
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40
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41
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42
+ = mm), 0 = no return
43
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44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
+ name: orbital_venus_express_earth_approach_00071
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61
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62
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63
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64
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65
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66
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67
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68
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69
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70
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71
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72
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73
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74
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81
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88
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115
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116
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117
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118
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119
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120
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121
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122
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123
+ - penalty_orientation_error
124
+ - penalty_position_distance
125
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126
+ - reward_orientation_precision
127
+ - reward_position_approach
128
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129
+ - reward_position_precision
130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000218.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_venus_express_earth_approach_00071_20261016T085935_071_env000_ep0003
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
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5
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6
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13
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18
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20
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33
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34
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39
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40
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41
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42
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43
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44
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45
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46
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
+ skydome: low_res
57
+ ambient_light_intensity: 0.0
58
+ scenario:
59
+ name: orbital_venus_express_earth_approach_00071
60
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61
+ - env.structure_scale=1.0
62
+ - env.structure_radius=4.4
63
+ - env.viewpoint_radius_range=[8.41,9.25]
64
+ - env.orbit_speed_range=[0.156,0.194]
65
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66
+ - env.lidar_max_distance=80.0
67
+ - env.event_camera_preset=imx636_nominal
68
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69
+ - env.spawn_offset_range=[1.26,2.52]
70
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71
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72
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73
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74
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75
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78
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81
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82
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85
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86
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87
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88
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90
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92
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94
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95
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96
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97
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98
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100
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101
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102
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103
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104
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105
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106
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107
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109
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112
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113
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114
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115
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116
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117
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118
+ size: 3
119
+ reward_terms:
120
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121
+ - penalty_action_rate
122
+ - penalty_angular_velocity
123
+ - penalty_orientation_error
124
+ - penalty_position_distance
125
+ - penalty_velocity_at_target
126
+ - reward_orientation_precision
127
+ - reward_position_approach
128
+ - reward_position_fine
129
+ - reward_position_precision
130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000219.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_venus_express_earth_approach_00071_20261016T085935_071_env000_ep0004
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
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6
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7
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8
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10
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13
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14
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18
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20
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25
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28
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
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48
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49
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50
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51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: venus_express
54
+ structure_scale: 1.0
55
+ viewpoint_mode: continuous
56
+ skydome: low_res
57
+ ambient_light_intensity: 0.0
58
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59
+ name: orbital_venus_express_earth_approach_00071
60
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61
+ - env.structure_scale=1.0
62
+ - env.structure_radius=4.4
63
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64
+ - env.orbit_speed_range=[0.156,0.194]
65
+ - env.camera_clipping_range=[0.05,80.0]
66
+ - env.lidar_max_distance=80.0
67
+ - env.event_camera_preset=imx636_nominal
68
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69
+ - env.spawn_offset_range=[1.26,2.52]
70
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71
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72
+ policy: latest rsl_rl_ppo
73
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74
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75
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77
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81
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82
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85
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87
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88
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89
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91
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94
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+ - name: tf_rot6d_robot
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100
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113
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115
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116
+ - name: imu_lin_acc
117
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118
+ size: 3
119
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120
+ - penalty_action_magnitude
121
+ - penalty_action_rate
122
+ - penalty_angular_velocity
123
+ - penalty_orientation_error
124
+ - penalty_position_distance
125
+ - penalty_velocity_at_target
126
+ - reward_orientation_precision
127
+ - reward_position_approach
128
+ - reward_position_fine
129
+ - reward_position_precision
130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000220.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_cubesat_black_approach_00076_20261016T093334_076_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
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5
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6
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13
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14
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18
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20
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21
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24
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25
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26
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28
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29
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31
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32
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33
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
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49
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50
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51
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52
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53
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54
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55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 518.0
58
+ scenario:
59
+ name: orbital_cubesat_black_approach_00076
60
+ overrides:
61
+ - env.structure_scale=1.99
62
+ - env.structure_radius=0.895
63
+ - env.viewpoint_radius_range=[2.01,2.21]
64
+ - env.orbit_speed_range=[0.076,0.13]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=cubesat
69
+ - env.spawn_offset_range=[1.0,2.0]
70
+ - env.spawn_attitude_noise_deg=60
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=518
73
+ seed: 598311231
74
+ policy: latest rsl_rl_ppo
75
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76
+ steps: 301
77
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79
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83
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90
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91
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96
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97
+ - name: tf_rot6d_robot
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100
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102
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103
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104
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105
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106
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107
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108
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110
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111
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112
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114
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115
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116
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117
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118
+ - name: imu_lin_acc
119
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120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
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124
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125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000221.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_cubesat_black_approach_00076_20261016T093334_076_env000_ep0003
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
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6
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7
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13
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14
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17
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18
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20
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25
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28
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31
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32
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33
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
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49
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50
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51
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52
+ scenario_type: orbital_inspection
53
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54
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55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 518.0
58
+ scenario:
59
+ name: orbital_cubesat_black_approach_00076
60
+ overrides:
61
+ - env.structure_scale=1.99
62
+ - env.structure_radius=0.895
63
+ - env.viewpoint_radius_range=[2.01,2.21]
64
+ - env.orbit_speed_range=[0.076,0.13]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=cubesat
69
+ - env.spawn_offset_range=[1.0,2.0]
70
+ - env.spawn_attitude_noise_deg=60
71
+ - env.skydome=false
72
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73
+ seed: 598311231
74
+ policy: latest rsl_rl_ppo
75
+ summary:
76
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77
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78
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79
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80
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81
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83
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85
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86
+ recorded_at: '2026-10-16T09:45:00'
87
+ trajectory_id: trajectory_hera_000221
88
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89
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90
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91
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92
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94
+ - name: tf_pos_robot_to_goal
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96
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97
+ - name: tf_rot6d_robot
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+ size: 6
100
+ - name: tf_rot6d_robot_to_goal
101
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102
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103
+ - name: vel_ang_goal
104
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105
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106
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108
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109
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111
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112
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114
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115
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116
+ group: proprio
117
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118
+ - name: imu_lin_acc
119
+ group: proprio
120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000222.yaml ADDED
@@ -0,0 +1,137 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_cubesat_black_approach_00076_20261016T093334_076_env000_ep0004
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
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7
+ end_reason: reset
8
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10
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12
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13
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14
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15
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16
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17
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18
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19
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20
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21
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25
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26
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
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47
+ robot: SatelliteMockup
48
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49
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50
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51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: cubesat
54
+ structure_scale: 1.99
55
+ viewpoint_mode: continuous
56
+ skydome: false
57
+ ambient_light_intensity: 518.0
58
+ scenario:
59
+ name: orbital_cubesat_black_approach_00076
60
+ overrides:
61
+ - env.structure_scale=1.99
62
+ - env.structure_radius=0.895
63
+ - env.viewpoint_radius_range=[2.01,2.21]
64
+ - env.orbit_speed_range=[0.076,0.13]
65
+ - env.camera_clipping_range=[0.05,60.0]
66
+ - env.lidar_max_distance=60.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=cubesat
69
+ - env.spawn_offset_range=[1.0,2.0]
70
+ - env.spawn_attitude_noise_deg=60
71
+ - env.skydome=false
72
+ - ++env.ambient_light_intensity=518
73
+ seed: 598311231
74
+ policy: latest rsl_rl_ppo
75
+ summary:
76
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77
+ return: 8315.452993392944
78
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79
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80
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81
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82
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83
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84
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85
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86
+ recorded_at: '2026-10-16T09:50:15'
87
+ trajectory_id: trajectory_hera_000222
88
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89
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90
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91
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92
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93
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94
+ - name: tf_pos_robot_to_goal
95
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96
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97
+ - name: tf_rot6d_robot
98
+ group: state
99
+ size: 6
100
+ - name: tf_rot6d_robot_to_goal
101
+ group: state
102
+ size: 6
103
+ - name: vel_ang_goal
104
+ group: state
105
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106
+ - name: vel_ang_robot
107
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108
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109
+ - name: vel_lin_goal
110
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111
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112
+ - name: vel_lin_robot
113
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114
+ size: 3
115
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116
+ group: proprio
117
+ size: 3
118
+ - name: imu_lin_acc
119
+ group: proprio
120
+ size: 3
121
+ reward_terms:
122
+ - penalty_action_magnitude
123
+ - penalty_action_rate
124
+ - penalty_angular_velocity
125
+ - penalty_orientation_error
126
+ - penalty_position_distance
127
+ - penalty_velocity_at_target
128
+ - reward_orientation_precision
129
+ - reward_position_approach
130
+ - reward_position_fine
131
+ - reward_position_precision
132
+ - reward_smooth_station_keeping
133
+ task_state:
134
+ - orbit_radius
135
+ - orbit_speed
136
+ - orbit_axis
137
+ - viewpoint_direction
metadata/trajectory_hera_000223.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_earth_approach_00075_20261016T092733_075_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
+ env_index: 0
6
+ episode_index: 2
7
+ end_reason: reset
8
+ start_ns: 8333333
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+ end_ns: 30000000000
10
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11
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12
+ rates_hz:
13
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14
+ agent: 10.0
15
+ camera: 20.0
16
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17
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18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
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21
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22
+ semantic: 600
23
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24
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25
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26
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27
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28
+ semantic_classes:
29
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30
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31
+ target: 2
32
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33
+ spacecraft: 4
34
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35
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36
+ world: z-up world frame of the environment origin; metres, seconds
37
+ quaternion: xyzw
38
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39
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42
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43
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44
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45
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46
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47
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48
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49
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50
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51
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53
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54
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55
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56
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57
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58
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59
+ name: orbital_satellite_mockup_earth_approach_00075
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61
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62
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64
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65
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66
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69
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70
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72
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123
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124
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125
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+ - reward_orientation_precision
127
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128
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129
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130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000224.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_earth_approach_00075_20261016T092733_075_env000_ep0003
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+ source: simulation
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+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
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40
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41
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42
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43
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44
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45
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46
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47
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48
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49
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50
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53
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55
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56
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57
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59
+ name: orbital_satellite_mockup_earth_approach_00075
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61
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63
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64
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66
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68
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69
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72
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122
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123
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124
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125
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127
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128
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129
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130
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131
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132
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133
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134
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135
+ - viewpoint_direction
metadata/trajectory_hera_000225.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_satellite_mockup_earth_approach_00075_20261016T092733_075_env000_ep0004
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+ source: simulation
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+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
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40
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41
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42
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43
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44
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45
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46
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48
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50
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52
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53
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55
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56
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57
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59
+ name: orbital_satellite_mockup_earth_approach_00075
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61
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63
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66
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68
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122
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123
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124
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125
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127
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128
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129
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130
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131
+ task_state:
132
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133
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134
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135
+ - viewpoint_direction
metadata/trajectory_hera_000226.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_venus_express_earth_orbit_00074_20261016T091542_074_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
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6
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34
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40
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41
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42
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43
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44
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45
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46
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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59
+ name: orbital_venus_express_earth_orbit_00074
60
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61
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62
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63
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64
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66
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67
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68
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71
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72
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73
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81
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115
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116
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117
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118
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119
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121
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122
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123
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124
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125
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126
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127
+ - reward_position_approach
128
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129
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130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000227.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_venus_express_earth_orbit_00074_20261016T091542_074_env000_ep0003
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
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5
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6
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7
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28
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30
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
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49
+ robot/thrust: 12
50
+ agent_rate_s: 0.1
51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: venus_express
54
+ structure_scale: 1.0
55
+ viewpoint_mode: continuous
56
+ skydome: low_res
57
+ ambient_light_intensity: 0.0
58
+ scenario:
59
+ name: orbital_venus_express_earth_orbit_00074
60
+ overrides:
61
+ - env.structure_scale=1.0
62
+ - env.structure_radius=4.4
63
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64
+ - env.orbit_speed_range=[0.186,0.208]
65
+ - env.camera_clipping_range=[0.05,80.0]
66
+ - env.lidar_max_distance=80.0
67
+ - env.event_camera_preset=imx636_nominal
68
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69
+ - env.spawn_offset_range=[0.2,1.02]
70
+ - env.spawn_attitude_noise_deg=15
71
+ seed: 1862138352
72
+ policy: latest rsl_rl_ppo
73
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74
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75
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76
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77
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78
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80
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81
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82
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83
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84
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85
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86
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87
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88
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89
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90
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91
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92
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93
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94
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100
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103
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107
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109
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110
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112
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113
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114
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115
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116
+ - name: imu_lin_acc
117
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118
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119
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120
+ - penalty_action_magnitude
121
+ - penalty_action_rate
122
+ - penalty_angular_velocity
123
+ - penalty_orientation_error
124
+ - penalty_position_distance
125
+ - penalty_velocity_at_target
126
+ - reward_orientation_precision
127
+ - reward_position_approach
128
+ - reward_position_fine
129
+ - reward_position_precision
130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000228.yaml ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: orbital_venus_express_earth_orbit_00074_20261016T091542_074_env000_ep0004
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.mobile.inspection.task
5
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6
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7
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8
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10
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13
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14
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18
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+ counts:
20
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21
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22
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23
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24
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25
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26
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27
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28
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29
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30
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31
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32
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33
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34
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35
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36
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37
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38
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39
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
40
+ body); orientation = base quat (world)'
41
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
42
+ = mm), 0 = no return
43
+ semantic: uint8 PNG of class IDs (see semantic_classes)
44
+ action: raw policy action as applied (see metadata.task_info.action_space)
45
+ task_info:
46
+ task_cfg: srb.tasks.mobile.inspection.task
47
+ robot: SatelliteMockup
48
+ action_terms:
49
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50
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51
+ episode_length_s: 30.0
52
+ scenario_type: orbital_inspection
53
+ structure_kind: venus_express
54
+ structure_scale: 1.0
55
+ viewpoint_mode: continuous
56
+ skydome: low_res
57
+ ambient_light_intensity: 0.0
58
+ scenario:
59
+ name: orbital_venus_express_earth_orbit_00074
60
+ overrides:
61
+ - env.structure_scale=1.0
62
+ - env.structure_radius=4.4
63
+ - env.viewpoint_radius_range=[7.15,7.87]
64
+ - env.orbit_speed_range=[0.186,0.208]
65
+ - env.camera_clipping_range=[0.05,80.0]
66
+ - env.lidar_max_distance=80.0
67
+ - env.event_camera_preset=imx636_nominal
68
+ - env.structure_kind=venus_express
69
+ - env.spawn_offset_range=[0.2,1.02]
70
+ - env.spawn_attitude_noise_deg=15
71
+ seed: 1862138352
72
+ policy: latest rsl_rl_ppo
73
+ summary:
74
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75
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76
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77
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78
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79
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80
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81
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82
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83
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85
+ trajectory_id: trajectory_hera_000228
86
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87
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88
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89
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90
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91
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92
+ - name: tf_pos_robot_to_goal
93
+ group: state
94
+ size: 3
95
+ - name: tf_rot6d_robot
96
+ group: state
97
+ size: 6
98
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100
+ size: 6
101
+ - name: vel_ang_goal
102
+ group: state
103
+ size: 3
104
+ - name: vel_ang_robot
105
+ group: state
106
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107
+ - name: vel_lin_goal
108
+ group: state
109
+ size: 3
110
+ - name: vel_lin_robot
111
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112
+ size: 3
113
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114
+ group: proprio
115
+ size: 3
116
+ - name: imu_lin_acc
117
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118
+ size: 3
119
+ reward_terms:
120
+ - penalty_action_magnitude
121
+ - penalty_action_rate
122
+ - penalty_angular_velocity
123
+ - penalty_orientation_error
124
+ - penalty_position_distance
125
+ - penalty_velocity_at_target
126
+ - reward_orientation_precision
127
+ - reward_position_approach
128
+ - reward_position_fine
129
+ - reward_position_precision
130
+ - reward_smooth_station_keeping
131
+ task_state:
132
+ - orbit_radius
133
+ - orbit_speed
134
+ - orbit_axis
135
+ - viewpoint_direction
metadata/trajectory_hera_000229.yaml ADDED
@@ -0,0 +1,147 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: zerog_cubesat_floating_inspection_00073_20261016T091140_073_env000_ep0002
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.digital_twin.zerog_lab.task_inspection
5
+ env_index: 0
6
+ episode_index: 2
7
+ end_reason: reset
8
+ start_ns: 8333333
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10
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11
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12
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13
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14
+ agent: 10.0
15
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16
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17
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18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
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21
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22
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23
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24
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25
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26
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27
+ steps: 401
28
+ semantic_classes:
29
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30
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31
+ target: 2
32
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33
+ spacecraft: 4
34
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35
+ robot:
36
+ - x_lock_joint
37
+ - y_lock_joint
38
+ - base_joint
39
+ - rw_revolute_joint
40
+ frames_and_units:
41
+ world: z-up world frame of the environment origin; metres, seconds
42
+ quaternion: xyzw
43
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
44
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
45
+ body); orientation = base quat (world)'
46
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
47
+ = mm), 0 = no return
48
+ semantic: uint8 PNG of class IDs (see semantic_classes)
49
+ action: raw policy action as applied (see metadata.task_info.action_space)
50
+ task_info:
51
+ task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection
52
+ robot: FloatingPlatform
53
+ action_terms:
54
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55
+ agent_rate_s: 0.1
56
+ episode_length_s: 40.0
57
+ scenario_type: zerog_lab_inspection
58
+ mode: inspection
59
+ target_kind: cubesat
60
+ target_mount: floating
61
+ standoff_range_m:
62
+ - 1.1
63
+ - 1.6
64
+ arena_x_m:
65
+ - 0.4
66
+ - 4.7
67
+ arena_y_m:
68
+ - -2.6
69
+ - -0.4
70
+ scenario:
71
+ name: zerog_cubesat_floating_inspection_00073
72
+ overrides:
73
+ - env.mode=inspection
74
+ - env.goal_reached_pos_m=0.25
75
+ - env.target_mount=floating
76
+ - env.target_kind=cubesat
77
+ - env.target_scale=2.66
78
+ - env.fill_light_intensity=51295
79
+ - env.event_camera_preset=imx636_outdoor_sunlit
80
+ - env.arc_speed_range=[0.039,0.044]
81
+ seed: 9563159
82
+ policy: latest rsl_rl_ppo
83
+ summary:
84
+ steps: 401
85
+ return: 10759.314777135849
86
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87
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88
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89
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90
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91
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92
+ median_second_half: 0.41199701073516914
93
+ final: 0.8893862525840404
94
+ recorded_at: '2026-10-16T09:21:01'
95
+ trajectory_id: trajectory_hera_000229
96
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97
+ steps_layout:
98
+ observation:
99
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100
+ group: state
101
+ size: 8
102
+ - name: tf_pos_robot_to_goal
103
+ group: state
104
+ size: 3
105
+ - name: tf_rot6d_robot
106
+ group: state
107
+ size: 6
108
+ - name: tf_rot6d_robot_to_goal
109
+ group: state
110
+ size: 6
111
+ - name: vel_ang_goal
112
+ group: state
113
+ size: 3
114
+ - name: vel_ang_robot
115
+ group: state
116
+ size: 3
117
+ - name: vel_lin_goal
118
+ group: state
119
+ size: 3
120
+ - name: vel_lin_robot
121
+ group: state
122
+ size: 3
123
+ - name: imu_ang_vel
124
+ group: proprio
125
+ size: 3
126
+ - name: imu_lin_acc
127
+ group: proprio
128
+ size: 3
129
+ reward_terms:
130
+ - penalty_action_magnitude
131
+ - penalty_action_rate
132
+ - penalty_angular_velocity
133
+ - penalty_orientation_error
134
+ - penalty_position_distance
135
+ - penalty_speed_near_target
136
+ - penalty_velocity_at_target
137
+ - reward_orientation_precision
138
+ - reward_position_approach
139
+ - reward_position_fine
140
+ - reward_position_precision
141
+ - reward_smooth_station_keeping
142
+ task_state:
143
+ - viewpoints_reached
144
+ - phase
145
+ - docking
146
+ - docking_goal_distance
147
+ - target_distance
metadata/trajectory_hera_000230.yaml ADDED
@@ -0,0 +1,147 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: zerog_cubesat_floating_inspection_00073_20261016T091140_073_env000_ep0003
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.digital_twin.zerog_lab.task_inspection
5
+ env_index: 0
6
+ episode_index: 3
7
+ end_reason: reset
8
+ start_ns: 40008333333
9
+ end_ns: 80000000000
10
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11
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12
+ rates_hz:
13
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14
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15
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16
+ lidar: 10.0
17
+ state: 120.0
18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
+ rgb: 800
21
+ depth: 800
22
+ semantic: 800
23
+ lidar_scans: 400
24
+ poses: 19200
25
+ imu: 4800
26
+ joint_states: 4800
27
+ steps: 401
28
+ semantic_classes:
29
+ BACKGROUND: 0
30
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31
+ target: 2
32
+ robot_arm: 3
33
+ spacecraft: 4
34
+ articulations:
35
+ robot:
36
+ - x_lock_joint
37
+ - y_lock_joint
38
+ - base_joint
39
+ - rw_revolute_joint
40
+ frames_and_units:
41
+ world: z-up world frame of the environment origin; metres, seconds
42
+ quaternion: xyzw
43
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
44
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
45
+ body); orientation = base quat (world)'
46
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
47
+ = mm), 0 = no return
48
+ semantic: uint8 PNG of class IDs (see semantic_classes)
49
+ action: raw policy action as applied (see metadata.task_info.action_space)
50
+ task_info:
51
+ task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection
52
+ robot: FloatingPlatform
53
+ action_terms:
54
+ robot/thrust: 8
55
+ agent_rate_s: 0.1
56
+ episode_length_s: 40.0
57
+ scenario_type: zerog_lab_inspection
58
+ mode: inspection
59
+ target_kind: cubesat
60
+ target_mount: floating
61
+ standoff_range_m:
62
+ - 1.1
63
+ - 1.6
64
+ arena_x_m:
65
+ - 0.4
66
+ - 4.7
67
+ arena_y_m:
68
+ - -2.6
69
+ - -0.4
70
+ scenario:
71
+ name: zerog_cubesat_floating_inspection_00073
72
+ overrides:
73
+ - env.mode=inspection
74
+ - env.goal_reached_pos_m=0.25
75
+ - env.target_mount=floating
76
+ - env.target_kind=cubesat
77
+ - env.target_scale=2.66
78
+ - env.fill_light_intensity=51295
79
+ - env.event_camera_preset=imx636_outdoor_sunlit
80
+ - env.arc_speed_range=[0.039,0.044]
81
+ seed: 9563159
82
+ policy: latest rsl_rl_ppo
83
+ summary:
84
+ steps: 401
85
+ return: 9607.655028119683
86
+ goal_position_error_m:
87
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88
+ median_second_half: 0.027161385864019394
89
+ final: 0.02762093022465706
90
+ goal_orientation_error_deg:
91
+ mean: 2.9324148582103002
92
+ median_second_half: 0.9196986321205569
93
+ final: 1.0420580560067503
94
+ recorded_at: '2026-10-16T09:29:20'
95
+ trajectory_id: trajectory_hera_000230
96
+ t0_sim_ns: 40000000000
97
+ steps_layout:
98
+ observation:
99
+ - name: act_previous
100
+ group: state
101
+ size: 8
102
+ - name: tf_pos_robot_to_goal
103
+ group: state
104
+ size: 3
105
+ - name: tf_rot6d_robot
106
+ group: state
107
+ size: 6
108
+ - name: tf_rot6d_robot_to_goal
109
+ group: state
110
+ size: 6
111
+ - name: vel_ang_goal
112
+ group: state
113
+ size: 3
114
+ - name: vel_ang_robot
115
+ group: state
116
+ size: 3
117
+ - name: vel_lin_goal
118
+ group: state
119
+ size: 3
120
+ - name: vel_lin_robot
121
+ group: state
122
+ size: 3
123
+ - name: imu_ang_vel
124
+ group: proprio
125
+ size: 3
126
+ - name: imu_lin_acc
127
+ group: proprio
128
+ size: 3
129
+ reward_terms:
130
+ - penalty_action_magnitude
131
+ - penalty_action_rate
132
+ - penalty_angular_velocity
133
+ - penalty_orientation_error
134
+ - penalty_position_distance
135
+ - penalty_speed_near_target
136
+ - penalty_velocity_at_target
137
+ - reward_orientation_precision
138
+ - reward_position_approach
139
+ - reward_position_fine
140
+ - reward_position_precision
141
+ - reward_smooth_station_keeping
142
+ task_state:
143
+ - viewpoints_reached
144
+ - phase
145
+ - docking
146
+ - docking_goal_distance
147
+ - target_distance
metadata/trajectory_hera_000231.yaml ADDED
@@ -0,0 +1,147 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ trajectory_dir: zerog_cubesat_floating_inspection_00073_20261016T091140_073_env000_ep0004
2
+ source: simulation
3
+ simulator: Space Robotics Bench (Isaac Sim 6.1, Isaac Lab 3.0)
4
+ task: srb.tasks.digital_twin.zerog_lab.task_inspection
5
+ env_index: 0
6
+ episode_index: 4
7
+ end_reason: reset
8
+ start_ns: 80008333333
9
+ end_ns: 120000000000
10
+ duration_s: 39.991666667000004
11
+ clock: simulation time (sim.current_time) in ns; shared by all streams and events
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+ rates_hz:
13
+ physics_and_render: 120.0
14
+ agent: 10.0
15
+ camera: 20.0
16
+ lidar: 10.0
17
+ state: 120.0
18
+ camera_update_period_s: 0.008333333333333333
19
+ counts:
20
+ rgb: 800
21
+ depth: 800
22
+ semantic: 800
23
+ lidar_scans: 400
24
+ poses: 19200
25
+ imu: 4800
26
+ joint_states: 4800
27
+ steps: 401
28
+ semantic_classes:
29
+ BACKGROUND: 0
30
+ UNLABELLED: 1
31
+ target: 2
32
+ robot_arm: 3
33
+ spacecraft: 4
34
+ articulations:
35
+ robot:
36
+ - x_lock_joint
37
+ - y_lock_joint
38
+ - base_joint
39
+ - rw_revolute_joint
40
+ frames_and_units:
41
+ world: z-up world frame of the environment origin; metres, seconds
42
+ quaternion: xyzw
43
+ poses: 'body pose and twist in world frame (v: m/s, w: rad/s)'
44
+ imu: 'robot base IMU: angular_velocity (rad/s, body), linear_acceleration (m/s^2,
45
+ body); orientation = base quat (world)'
46
+ depth: uint16 PNG along the optical axis in units of calibration depth.scale_m (0.001
47
+ = mm), 0 = no return
48
+ semantic: uint8 PNG of class IDs (see semantic_classes)
49
+ action: raw policy action as applied (see metadata.task_info.action_space)
50
+ task_info:
51
+ task_cfg: srb.tasks.digital_twin.zerog_lab.task_inspection
52
+ robot: FloatingPlatform
53
+ action_terms:
54
+ robot/thrust: 8
55
+ agent_rate_s: 0.1
56
+ episode_length_s: 40.0
57
+ scenario_type: zerog_lab_inspection
58
+ mode: inspection
59
+ target_kind: cubesat
60
+ target_mount: floating
61
+ standoff_range_m:
62
+ - 1.1
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+ - 1.6
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+ arena_x_m:
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+ - 4.7
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+ arena_y_m:
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+ - -2.6
69
+ - -0.4
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+ scenario:
71
+ name: zerog_cubesat_floating_inspection_00073
72
+ overrides:
73
+ - env.mode=inspection
74
+ - env.goal_reached_pos_m=0.25
75
+ - env.target_mount=floating
76
+ - env.target_kind=cubesat
77
+ - env.target_scale=2.66
78
+ - env.fill_light_intensity=51295
79
+ - env.event_camera_preset=imx636_outdoor_sunlit
80
+ - env.arc_speed_range=[0.039,0.044]
81
+ seed: 9563159
82
+ policy: latest rsl_rl_ppo
83
+ summary:
84
+ steps: 401
85
+ return: 10788.780938491225
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+ goal_position_error_m:
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+ mean: 0.1128229023122282
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+ final: 0.3950581415935375
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+ recorded_at: '2026-10-16T09:38:11'
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+ trajectory_id: trajectory_hera_000231
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+ t0_sim_ns: 80000000000
97
+ steps_layout:
98
+ observation:
99
+ - name: act_previous
100
+ group: state
101
+ size: 8
102
+ - name: tf_pos_robot_to_goal
103
+ group: state
104
+ size: 3
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+ - name: tf_rot6d_robot
106
+ group: state
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+ size: 6
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+ - name: tf_rot6d_robot_to_goal
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+ group: state
110
+ size: 6
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+ - name: vel_ang_goal
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+ group: state
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+ size: 3
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+ - name: vel_ang_robot
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+ group: state
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+ size: 3
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+ - name: vel_lin_goal
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+ group: state
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+ size: 3
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+ - name: vel_lin_robot
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+ group: state
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+ size: 3
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+ - name: imu_ang_vel
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+ group: proprio
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+ size: 3
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+ - name: imu_lin_acc
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+ group: proprio
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+ size: 3
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+ reward_terms:
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+ - penalty_action_magnitude
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+ - penalty_action_rate
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+ - penalty_angular_velocity
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+ - penalty_orientation_error
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+ - penalty_position_distance
135
+ - penalty_speed_near_target
136
+ - penalty_velocity_at_target
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+ - reward_orientation_precision
138
+ - reward_position_approach
139
+ - reward_position_fine
140
+ - reward_position_precision
141
+ - reward_smooth_station_keeping
142
+ task_state:
143
+ - viewpoints_reached
144
+ - phase
145
+ - docking
146
+ - docking_goal_distance
147
+ - target_distance
sim_manifest.json CHANGED
@@ -3805,6 +3805,441 @@
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  "group": "sim_zerog",
3806
  "scenario": "zerog/satellite_mockup/floating/inspection",
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  "source_dir": "zerog_satellite_mockup_floating_inspection_00066_20261016T083241_066_env000_ep0004"
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  }
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  }
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  }
 
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  "scenario": "zerog/satellite_mockup/floating/inspection",
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  "source_dir": "zerog_satellite_mockup_floating_inspection_00066_20261016T083241_066_env000_ep0004"
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4224
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4225
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4243
  }
4244
  }
4245
  }