Datasets:
File size: 38,374 Bytes
c3c6136 5379e40 c3c6136 5379e40 c3c6136 5379e40 ab454bf 5379e40 c3c6136 5379e40 c3c6136 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 | {
"schema_version": 1,
"sessions": [
{
"captured_at": "2026-08-21T12:16:29.375355+00:00",
"robot_type": "piper_follower",
"dataset_fps": 30,
"cameras": {
"r_wrist": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/r_wrist",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/r_wrist",
"resolved_device": "/dev/video10",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
},
"top": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/top",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/top",
"resolved_device": "/dev/video8",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
}
}
},
{
"captured_at": "2026-08-22T12:06:06.844216+00:00",
"robot_type": "piper_follower",
"dataset_fps": 30,
"cameras": {
"r_wrist": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/r_wrist",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/r_wrist",
"resolved_device": "/dev/video10",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
},
"top": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/top",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/top",
"resolved_device": "/dev/video8",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
}
}
},
{
"captured_at": "2026-08-22T12:14:28.587377+00:00",
"robot_type": "piper_follower",
"dataset_fps": 30,
"cameras": {
"r_wrist": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/r_wrist",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/r_wrist",
"resolved_device": "/dev/video10",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
},
"top": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/top",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/top",
"resolved_device": "/dev/video8",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
}
}
},
{
"captured_at": "2026-08-22T14:07:55.672978+00:00",
"robot_type": "piper_follower",
"dataset_fps": 30,
"cameras": {
"r_wrist": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/r_wrist",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/r_wrist",
"resolved_device": "/dev/video10",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.2\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
},
"top": {
"type": "opencv",
"configuration": {
"fps": 120,
"width": 640,
"height": 480,
"index_or_path": "/dev/top",
"color_mode": "rgb",
"rotation": 0,
"warmup_s": 1,
"fourcc": "MJPG"
},
"runtime": {
"width": 640,
"height": 480,
"capture_width": 640,
"capture_height": 480,
"fps": 120.10136452241716,
"backend": "V4L2",
"fourcc": "MJPG"
},
"v4l2": {
"available": true,
"device": "/dev/top",
"resolved_device": "/dev/video8",
"controls": {
"brightness": 5,
"contrast": 30,
"saturation": 60,
"hue": 0,
"white_balance_automatic": 1,
"gamma": 130,
"gain": 0,
"power_line_frequency": 2,
"white_balance_temperature": 4487,
"sharpness": 0,
"backlight_compensation": 1,
"auto_exposure": 1,
"exposure_time_absolute": 200,
"exposure_dynamic_framerate": 0
},
"report": "Driver Info:\n\tDriver name : uvcvideo\n\tCard type : USB 2.0 Camera: HD USB Camera\n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tDriver version : 6.8.12\n\tCapabilities : 0x84a00001\n\t\tVideo Capture\n\t\tMetadata Capture\n\t\tStreaming\n\t\tExtended Pix Format\n\t\tDevice Capabilities\n\tDevice Caps : 0x04200001\n\t\tVideo Capture\n\t\tStreaming\n\t\tExtended Pix Format\nMedia Driver Info:\n\tDriver name : uvcvideo\n\tModel : USB 2.0 Camera: HD USB Camera\n\tSerial : \n\tBus info : usb-0000:80:14.0-9.1.4.1\n\tMedia version : 6.8.12\n\tHardware revision: 0x00000100 (256)\n\tDriver version : 6.8.12\nInterface Info:\n\tID : 0x03000002\n\tType : V4L Video\nEntity Info:\n\tID : 0x00000001 (1)\n\tName : USB 2.0 Camera: HD USB Camera\n\tFunction : V4L2 I/O\n\tFlags : default\n\tPad 0x01000007 : 0: Sink\n\t Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable\nPriority: 2\nVideo input : 0 (Camera 1: ok)\nFormat Video Capture:\n\tWidth/Height : 640/480\n\tPixel Format : 'MJPG' (Motion-JPEG)\n\tField : None\n\tBytes per Line : 0\n\tSize Image : 614989\n\tColorspace : sRGB\n\tTransfer Function : Rec. 709\n\tYCbCr/HSV Encoding: ITU-R 601\n\tQuantization : Default (maps to Full Range)\n\tFlags : \nCrop Capability Video Capture:\n\tBounds : Left 0, Top 0, Width 640, Height 480\n\tDefault : Left 0, Top 0, Width 640, Height 480\n\tPixel Aspect: 1/1\nSelection Video Capture: crop_default, Left 0, Top 0, Width 640, Height 480, Flags: \nSelection Video Capture: crop_bounds, Left 0, Top 0, Width 640, Height 480, Flags: \nStreaming Parameters Video Capture:\n\tCapabilities : timeperframe\n\tFrames per second: 120.101 (61612/513)\n\tRead buffers : 0\n\nUser Controls\n\n brightness 0x00980900 (int) : min=-64 max=64 step=1 default=0 value=5\n contrast 0x00980901 (int) : min=0 max=64 step=1 default=32 value=30\n saturation 0x00980902 (int) : min=0 max=128 step=1 default=60 value=60\n hue 0x00980903 (int) : min=-40 max=40 step=1 default=0 value=0\n white_balance_automatic 0x0098090c (bool) : default=1 value=1\n gamma 0x00980910 (int) : min=72 max=500 step=1 default=100 value=130\n gain 0x00980913 (int) : min=0 max=100 step=1 default=0 value=0\n power_line_frequency 0x00980918 (menu) : min=0 max=2 default=1 value=2 (60 Hz)\n\t\t\t\t0: Disabled\n\t\t\t\t1: 50 Hz\n\t\t\t\t2: 60 Hz\n white_balance_temperature 0x0098091a (int) : min=2800 max=6500 step=1 default=4600 value=4487 flags=inactive\n sharpness 0x0098091b (int) : min=0 max=6 step=1 default=2 value=0\n backlight_compensation 0x0098091c (int) : min=0 max=2 step=1 default=1 value=1\n\nCamera Controls\n\n auto_exposure 0x009a0901 (menu) : min=0 max=3 default=3 value=1 (Manual Mode)\n\t\t\t\t1: Manual Mode\n\t\t\t\t3: Aperture Priority Mode\n exposure_time_absolute 0x009a0902 (int) : min=1 max=5000 step=1 default=157 value=200\n exposure_dynamic_framerate 0x009a0903 (bool) : default=0 value=0"
}
}
}
}
]
}
|