Hugging Face's logo

Datasets:
leggedrobotics
/
grand_tour_dataset

Tasks:
Robotics
Size:
1M<n<10M
Tags:
robotics
lidar
camera
vision
imu
legged
License:
Dataset card Files
xet
Community
2
JonasFrey96 commited on
Commit
b9c7b96
·
verified ·
1 Parent(s): 72f7077

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. 2024-12-03-13-26-40/data/.zgroup +3 -0
  2. 2024-12-03-13-26-40/data/adis_imu.tar +3 -0
  3. 2024-12-03-13-26-40/data/alphasense_front_center.tar +3 -0
  4. 2024-12-03-13-26-40/data/alphasense_front_left.tar +3 -0
  5. 2024-12-03-13-26-40/data/alphasense_front_right.tar +3 -0
  6. 2024-12-03-13-26-40/data/alphasense_imu.tar +3 -0
  7. 2024-12-03-13-26-40/data/alphasense_left.tar +3 -0
  8. 2024-12-03-13-26-40/data/alphasense_right.tar +3 -0
  9. 2024-12-03-13-26-40/data/anymal_command_twist.tar +3 -0
  10. 2024-12-03-13-26-40/data/anymal_imu.tar +3 -0
  11. 2024-12-03-13-26-40/data/anymal_state_battery.tar +3 -0
  12. 2024-12-03-13-26-40/data/anymal_state_odometry.tar +3 -0
  13. 2024-12-03-13-26-40/data/anymal_state_state_estimator.tar +3 -0
  14. 2024-12-03-13-26-40/data/ap20_imu.tar +3 -0
  15. 2024-12-03-13-26-40/data/cpt7_ie_rt_odometry.tar +3 -0
  16. 2024-12-03-13-26-40/data/cpt7_ie_rt_tf.tar +3 -0
  17. 2024-12-03-13-26-40/data/cpt7_ie_tc_odometry.tar +3 -0
  18. 2024-12-03-13-26-40/data/cpt7_ie_tc_tf.tar +3 -0
  19. 2024-12-03-13-26-40/data/cpt7_imu.tar +3 -0
  20. 2024-12-03-13-26-40/data/depth_camera_front_lower.tar +3 -0
  21. 2024-12-03-13-26-40/data/depth_camera_front_upper.tar +3 -0
  22. 2024-12-03-13-26-40/data/depth_camera_left.tar +3 -0
  23. 2024-12-03-13-26-40/data/depth_camera_rear_lower.tar +3 -0
  24. 2024-12-03-13-26-40/data/depth_camera_rear_upper.tar +3 -0
  25. 2024-12-03-13-26-40/data/depth_camera_right.tar +3 -0
  26. 2024-12-03-13-26-40/data/dlio_map_odometry.tar +3 -0
  27. 2024-12-03-13-26-40/data/dlio_tf.tar +3 -0
  28. 2024-12-03-13-26-40/data/gnss_raw_cpt7_ie_rt.tar +3 -0
  29. 2024-12-03-13-26-40/data/gnss_raw_cpt7_ie_tc.tar +3 -0
  30. 2024-12-03-13-26-40/data/hdr_front.tar +3 -0
  31. 2024-12-03-13-26-40/data/hdr_left.tar +3 -0
  32. 2024-12-03-13-26-40/data/hdr_right.tar +3 -0
  33. 2024-12-03-13-26-40/data/livox_imu.tar +3 -0
  34. 2024-12-03-13-26-40/data/navsatfix_cpt7_ie_tc.tar +3 -0
  35. 2024-12-03-13-26-40/data/prism_position.tar +3 -0
  36. 2024-12-03-13-26-40/data/stim320_imu.tar +3 -0
  37. 2024-12-03-13-26-40/data/tf.tar +3 -0
  38. 2024-12-03-13-26-40/metadata/adis_imu.yaml +14 -0
  39. 2024-12-03-13-26-40/metadata/alphasense_front_center.yaml +14 -0
  40. 2024-12-03-13-26-40/metadata/alphasense_front_center_caminfo.yaml +51 -0
  41. 2024-12-03-13-26-40/metadata/alphasense_front_left.yaml +14 -0
  42. 2024-12-03-13-26-40/metadata/alphasense_front_left_caminfo.yaml +51 -0
  43. 2024-12-03-13-26-40/metadata/alphasense_front_right.yaml +14 -0
  44. 2024-12-03-13-26-40/metadata/alphasense_front_right_caminfo.yaml +51 -0
  45. 2024-12-03-13-26-40/metadata/alphasense_imu.yaml +14 -0
  46. 2024-12-03-13-26-40/metadata/alphasense_left.yaml +14 -0
  47. 2024-12-03-13-26-40/metadata/alphasense_left_caminfo.yaml +51 -0
  48. 2024-12-03-13-26-40/metadata/alphasense_right.yaml +14 -0
  49. 2024-12-03-13-26-40/metadata/alphasense_right_caminfo.yaml +51 -0
  50. 2024-12-03-13-26-40/metadata/anymal_command_twist.yaml +2 -0
2024-12-03-13-26-40/data/.zgroup ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ {
2
+ "zarr_format": 2
3
+ }
2024-12-03-13-26-40/data/adis_imu.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0fd8e335e14ffaf48c09b8de3814dc3bd7a27e93b5e6b7fe7b5f76ce600f2d4e
3
+ size 9226240
2024-12-03-13-26-40/data/alphasense_front_center.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:47e2da73b1a9f55088dd466e1126cd14a2224d42a0d7217f8ef90dcdb9c738be
3
+ size 2191360
2024-12-03-13-26-40/data/alphasense_front_left.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:76779dacd2d19a3cb0f6bb04aea0e49baa8698e862938c919e77e95e04aaa08e
3
+ size 2191360
2024-12-03-13-26-40/data/alphasense_front_right.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f836b1a5b00195732326df0f122fc2a280812bc355879beec7d3b0f284c8e946
3
+ size 2191360
2024-12-03-13-26-40/data/alphasense_imu.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:26d4ad406d5a3392d0f6f1caad34317abe4672d4050f71630a93a123c8681235
3
+ size 9328640
2024-12-03-13-26-40/data/alphasense_left.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22e3ec302372d037d50df2c47d17f91b1213a2ac6c4acd9b2fc4773f6c383f07
3
+ size 2191360
2024-12-03-13-26-40/data/alphasense_right.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:35ac756b42657d659307fadab5b93f9c430532d328d4f9734fced58e5a5d5739
3
+ size 2191360
2024-12-03-13-26-40/data/anymal_command_twist.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bf90e3c8d57377d1c433a1324f6ebb7766e0783d8a80f223eb0aba45024d2609
3
+ size 3860480
2024-12-03-13-26-40/data/anymal_imu.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7ca3fd11abda777c49ee25744754fba33b6cae18ac5871ebc48ed84abe2d9dd8
3
+ size 11909120
2024-12-03-13-26-40/data/anymal_state_battery.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:001c43c5c765ad6f63bcd3657f37a26f126566689781a5bb7af42815c6d5e0ca
3
+ size 16414720
2024-12-03-13-26-40/data/anymal_state_odometry.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2058927067b5a078edada6798ab07ed4d7fd6cf8ef7629ddea2c5faaee9b5673
3
+ size 10250240
2024-12-03-13-26-40/data/anymal_state_state_estimator.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3d9cff021e5cb2a12b52b54c186c5d5a0e711d87ff6040b1c1e16acc500f413
3
+ size 85411840
2024-12-03-13-26-40/data/ap20_imu.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:736b6fcc1f23b3ac85cfe8bffe71b8e4ad7aea68012fae214a9cd530dce6a185
3
+ size 8192000
2024-12-03-13-26-40/data/cpt7_ie_rt_odometry.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:48bc8f02cf5db4c0b26f7856e796bf2bbffe51e86e1fede6402f584641109469
3
+ size 14161920
2024-12-03-13-26-40/data/cpt7_ie_rt_tf.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:25233f26cee3746058cf2c760474a2e0f8db0a46750765a6ef737eb220939f7f
3
+ size 6696960
2024-12-03-13-26-40/data/cpt7_ie_tc_odometry.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0e51326f0949e5add0ed1e222d7b376b7f0d65fa87572d923d30a38374e3439d
3
+ size 14223360
2024-12-03-13-26-40/data/cpt7_ie_tc_tf.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9a640f71a6c4a21e84dae1cd49fa4547a593a0a80a4b3d708ae16bca81d7ea75
3
+ size 6696960
2024-12-03-13-26-40/data/cpt7_imu.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38d92ec5df3c03fe460498e4afcbaaa82015449d8d61558919bec371a87b1ca8
3
+ size 7536640
2024-12-03-13-26-40/data/depth_camera_front_lower.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:61c4cead14442b5001de259f217fa8e4bec80186809259bc60c5412e1660a62c
3
+ size 2201600
2024-12-03-13-26-40/data/depth_camera_front_upper.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:98ecf45df6d84cd6549fe9833e4ff04fb921144ef5b4ea2d212fa5aed85089f2
3
+ size 2191360
2024-12-03-13-26-40/data/depth_camera_left.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:68ccacdb01b0502010ce5abf32cfead55cb6f9138f33a97c520948f2d5e386cc
3
+ size 2191360
2024-12-03-13-26-40/data/depth_camera_rear_lower.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d0c0eba97fb94052c9804171438653f4626fec9db95a71d20d7a210bd20f98af
3
+ size 2201600
2024-12-03-13-26-40/data/depth_camera_rear_upper.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b4baeba1c8d019485f3cf324e401bdc2b1793e0bcb91cd104867af81155baf22
3
+ size 2201600
2024-12-03-13-26-40/data/depth_camera_right.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:0d9ee81947d2abc01b607ef02a371ebc2209c8d4b8b425c97cc580fa53888e54
3
+ size 2191360
2024-12-03-13-26-40/data/dlio_map_odometry.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:63825bb8ca327c4b872fc6fdec6e37dd7f6f52370931a31c7bdaf0688d8eacf5
3
+ size 7116800
2024-12-03-13-26-40/data/dlio_tf.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5625a5ab3b9460fbf1f1f1fb22ff394f415e14b97b44d76e09329df824ca2631
3
+ size 4956160
2024-12-03-13-26-40/data/gnss_raw_cpt7_ie_rt.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ba3c98190b6fe649e17b6016c779d8eed9c9053b3b3be19ac2b42e901503ca70
3
+ size 8181760
2024-12-03-13-26-40/data/gnss_raw_cpt7_ie_tc.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6f20fbfc0be109c2558bc24bbe5e49553c49d289c8f794d279b927d2442d74ce
3
+ size 8181760
2024-12-03-13-26-40/data/hdr_front.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3e8cc48c30d39f3f56461d9685f1dfe00ee5aa3141637ec842732d7849a987d
3
+ size 2191360
2024-12-03-13-26-40/data/hdr_left.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2192aa4bea32e78e8c3fb504196ed51643777f2302dde68fdbf222ba6221ace1
3
+ size 2191360
2024-12-03-13-26-40/data/hdr_right.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1a0b143b48a2ca05b1237f45be627a1fa41763bbbdcaba11bdefe6695155fa59
3
+ size 2191360
2024-12-03-13-26-40/data/livox_imu.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7701d41b88fcdbafbad07d9ffaa5b25b5aa8e48dff721a84437c01266a49cf2a
3
+ size 8826880
2024-12-03-13-26-40/data/navsatfix_cpt7_ie_tc.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:799033164395ace10b3a79c65d76d4729ab569a6e70c2eb8f21d1ba67c25ede3
3
+ size 10772480
2024-12-03-13-26-40/data/prism_position.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bfe7bf251b2dd8f659e6f156683d7d6f2a2c185b58082c78ade94ebeeb62f208
3
+ size 3051520
2024-12-03-13-26-40/data/stim320_imu.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b74ab9c5690c72a8de296ab35a88068942693dd7b1f758033eb2455825eac90a
3
+ size 12881920
2024-12-03-13-26-40/data/tf.tar ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:769ee1f92bd2d00fedf9a3be2ab333a3eb5b11c69ccc809c3ac1203e78be205f
3
+ size 20480
2024-12-03-13-26-40/metadata/adis_imu.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: adis16475_imu
2
+ topic: adis_imu
3
+ transform:
4
+ base_frame_id: box_base
5
+ child_frame_id: adis16475_imu
6
+ rotation:
7
+ w: 0.005251232714324072
8
+ x: 0.7046754024829419
9
+ y: -0.7094799413019802
10
+ z: -0.006573779782016809
11
+ translation:
12
+ x: -0.015846751421098565
13
+ y: 0.19322607669094574
14
+ z: 0.07956850717224997
2024-12-03-13-26-40/metadata/alphasense_front_center.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: alphasense_front_center
2
+ topic: alphasense_front_center
3
+ transform:
4
+ base_frame_id: box_base
5
+ child_frame_id: alphasense_front_center
6
+ rotation:
7
+ w: 0.541225186106887
8
+ x: -0.45494336062045815
9
+ y: -0.4544944669145965
10
+ z: -0.5417901956430607
11
+ translation:
12
+ x: 0.04600713143181777
13
+ y: -0.0032140911178705073
14
+ z: -0.3751986320280252
2024-12-03-13-26-40/metadata/alphasense_front_center_caminfo.yaml ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ camera_info:
2
+ D:
3
+ - -0.0385234391527932
4
+ - -0.006412522405808069
5
+ - 0.00607744610815908
6
+ - -0.002388499938007876
7
+ K:
8
+ - 700.3894350332721
9
+ - 0.0
10
+ - 682.8896513142247
11
+ - 0.0
12
+ - 700.1313839578163
13
+ - 523.1354161020042
14
+ - 0.0
15
+ - 0.0
16
+ - 1.0
17
+ P:
18
+ - 700.3894350332721
19
+ - 0.0
20
+ - 682.8896513142247
21
+ - 0.0
22
+ - 0.0
23
+ - 700.1313839578163
24
+ - 523.1354161020042
25
+ - 0.0
26
+ - 0.0
27
+ - 0.0
28
+ - 1.0
29
+ - 0.0
30
+ R:
31
+ - 1.0
32
+ - 0.0
33
+ - 0.0
34
+ - 0.0
35
+ - 1.0
36
+ - 0.0
37
+ - 0.0
38
+ - 0.0
39
+ - 1.0
40
+ binning_x: 0
41
+ binning_y: 0
42
+ distortion_model: equidistant
43
+ frame_id: alphasense_front_center
44
+ height: 1080
45
+ roi:
46
+ do_rectify: false
47
+ height: 0
48
+ width: 0
49
+ x_offset: 0
50
+ y_offset: 0
51
+ width: 1440
2024-12-03-13-26-40/metadata/alphasense_front_left.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: alphasense_front_left
2
+ topic: alphasense_front_left
3
+ transform:
4
+ base_frame_id: box_base
5
+ child_frame_id: alphasense_front_left
6
+ rotation:
7
+ w: 0.5368758638762299
8
+ x: -0.45974498896225247
9
+ y: -0.45019665401233916
10
+ z: -0.5456389141431761
11
+ translation:
12
+ x: 0.10008743117500188
13
+ y: -0.005044106160423112
14
+ z: -0.3759478344493785
2024-12-03-13-26-40/metadata/alphasense_front_left_caminfo.yaml ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ camera_info:
2
+ D:
3
+ - -0.03843622792783702
4
+ - -0.002634177248264113
5
+ - 0.002422949539367233
6
+ - -0.001382691294699419
7
+ K:
8
+ - 701.4545727023193
9
+ - 0.0
10
+ - 680.2585465191044
11
+ - 0.0
12
+ - 700.1179107526791
13
+ - 537.6794158094971
14
+ - 0.0
15
+ - 0.0
16
+ - 1.0
17
+ P:
18
+ - 701.4545727023193
19
+ - 0.0
20
+ - 680.2585465191044
21
+ - 0.0
22
+ - 0.0
23
+ - 700.1179107526791
24
+ - 537.6794158094971
25
+ - 0.0
26
+ - 0.0
27
+ - 0.0
28
+ - 1.0
29
+ - 0.0
30
+ R:
31
+ - 1.0
32
+ - 0.0
33
+ - 0.0
34
+ - 0.0
35
+ - 1.0
36
+ - 0.0
37
+ - 0.0
38
+ - 0.0
39
+ - 1.0
40
+ binning_x: 0
41
+ binning_y: 0
42
+ distortion_model: equidistant
43
+ frame_id: alphasense_front_left
44
+ height: 1080
45
+ roi:
46
+ do_rectify: false
47
+ height: 0
48
+ width: 0
49
+ x_offset: 0
50
+ y_offset: 0
51
+ width: 1440
2024-12-03-13-26-40/metadata/alphasense_front_right.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: alphasense_front_right
2
+ topic: alphasense_front_right
3
+ transform:
4
+ base_frame_id: box_base
5
+ child_frame_id: alphasense_front_right
6
+ rotation:
7
+ w: 0.5415552717416523
8
+ x: -0.45428021832487614
9
+ y: -0.45594501981218066
10
+ z: -0.5407971059426985
11
+ translation:
12
+ x: -0.008591409149567839
13
+ y: -0.004939215486247553
14
+ z: -0.3747769505103547
2024-12-03-13-26-40/metadata/alphasense_front_right_caminfo.yaml ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ camera_info:
2
+ D:
3
+ - -0.04459393782932651
4
+ - 0.01237852934390858
5
+ - -0.01313451092983728
6
+ - 0.003895777285135927
7
+ K:
8
+ - 701.6656970672693
9
+ - 0.0
10
+ - 675.8628766265481
11
+ - 0.0
12
+ - 700.8504216642683
13
+ - 534.6583586732144
14
+ - 0.0
15
+ - 0.0
16
+ - 1.0
17
+ P:
18
+ - 701.6656970672693
19
+ - 0.0
20
+ - 675.8628766265481
21
+ - 0.0
22
+ - 0.0
23
+ - 700.8504216642683
24
+ - 534.6583586732144
25
+ - 0.0
26
+ - 0.0
27
+ - 0.0
28
+ - 1.0
29
+ - 0.0
30
+ R:
31
+ - 1.0
32
+ - 0.0
33
+ - 0.0
34
+ - 0.0
35
+ - 1.0
36
+ - 0.0
37
+ - 0.0
38
+ - 0.0
39
+ - 1.0
40
+ binning_x: 0
41
+ binning_y: 0
42
+ distortion_model: equidistant
43
+ frame_id: alphasense_front_right
44
+ height: 1080
45
+ roi:
46
+ do_rectify: false
47
+ height: 0
48
+ width: 0
49
+ x_offset: 0
50
+ y_offset: 0
51
+ width: 1440
2024-12-03-13-26-40/metadata/alphasense_imu.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: alphasense_imu
2
+ topic: alphasense_imu
3
+ transform:
4
+ base_frame_id: box_base
5
+ child_frame_id: alphasense_imu
6
+ rotation:
7
+ w: 0.9992675697949326
8
+ x: -0.00720142304148732
9
+ y: -0.036738890418011295
10
+ z: -0.007919431365965667
11
+ translation:
12
+ x: -0.3022307436356707
13
+ y: 0.061798150722505
14
+ z: -0.08410765585489798
2024-12-03-13-26-40/metadata/alphasense_left.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: alphasense_left
2
+ topic: alphasense_left
3
+ transform:
4
+ base_frame_id: box_base
5
+ child_frame_id: alphasense_left
6
+ rotation:
7
+ w: 0.7629309956447421
8
+ x: -0.6464698403272188
9
+ y: 0.0035455747661431447
10
+ z: 0.0006858071159475156
11
+ translation:
12
+ x: -0.2991991707202636
13
+ y: -0.040493099699673664
14
+ z: -0.15557014858322163
2024-12-03-13-26-40/metadata/alphasense_left_caminfo.yaml ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ camera_info:
2
+ D:
3
+ - -0.04153221153112917
4
+ - -0.001458244747164001
5
+ - 0.002246288862899356
6
+ - -0.00119721270298716
7
+ K:
8
+ - 700.8972615106184
9
+ - 0.0
10
+ - 706.2319041225614
11
+ - 0.0
12
+ - 701.0200085909775
13
+ - 525.8760223159921
14
+ - 0.0
15
+ - 0.0
16
+ - 1.0
17
+ P:
18
+ - 700.8972615106184
19
+ - 0.0
20
+ - 706.2319041225614
21
+ - 0.0
22
+ - 0.0
23
+ - 701.0200085909775
24
+ - 525.8760223159921
25
+ - 0.0
26
+ - 0.0
27
+ - 0.0
28
+ - 1.0
29
+ - 0.0
30
+ R:
31
+ - 1.0
32
+ - 0.0
33
+ - 0.0
34
+ - 0.0
35
+ - 1.0
36
+ - 0.0
37
+ - 0.0
38
+ - 0.0
39
+ - 1.0
40
+ binning_x: 0
41
+ binning_y: 0
42
+ distortion_model: equidistant
43
+ frame_id: alphasense_left
44
+ height: 1080
45
+ roi:
46
+ do_rectify: false
47
+ height: 0
48
+ width: 0
49
+ x_offset: 0
50
+ y_offset: 0
51
+ width: 1440
2024-12-03-13-26-40/metadata/alphasense_right.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: alphasense_right
2
+ topic: alphasense_right
3
+ transform:
4
+ base_frame_id: box_base
5
+ child_frame_id: alphasense_right
6
+ rotation:
7
+ w: 0.0024233744493068338
8
+ x: 0.007051890013999862
9
+ y: -0.6356317567377696
10
+ z: -0.7719563899145896
11
+ translation:
12
+ x: 0.3005096713964913
13
+ y: -0.05350472559028527
14
+ z: -0.06790435993644765
2024-12-03-13-26-40/metadata/alphasense_right_caminfo.yaml ADDED
@@ -0,0 +1,51 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ camera_info:
2
+ D:
3
+ - -0.0412338408417994
4
+ - 0.004285261971427854
5
+ - -0.005208088628229656
6
+ - 0.001463833354868288
7
+ K:
8
+ - 697.11736829549
9
+ - 0.0
10
+ - 750.1699243236521
11
+ - 0.0
12
+ - 697.2298815427183
13
+ - 553.3557744884637
14
+ - 0.0
15
+ - 0.0
16
+ - 1.0
17
+ P:
18
+ - 697.11736829549
19
+ - 0.0
20
+ - 750.1699243236521
21
+ - 0.0
22
+ - 0.0
23
+ - 697.2298815427183
24
+ - 553.3557744884637
25
+ - 0.0
26
+ - 0.0
27
+ - 0.0
28
+ - 1.0
29
+ - 0.0
30
+ R:
31
+ - 1.0
32
+ - 0.0
33
+ - 0.0
34
+ - 0.0
35
+ - 1.0
36
+ - 0.0
37
+ - 0.0
38
+ - 0.0
39
+ - 1.0
40
+ binning_x: 0
41
+ binning_y: 0
42
+ distortion_model: equidistant
43
+ frame_id: alphasense_right
44
+ height: 1080
45
+ roi:
46
+ do_rectify: false
47
+ height: 0
48
+ width: 0
49
+ x_offset: 0
50
+ y_offset: 0
51
+ width: 1440
2024-12-03-13-26-40/metadata/anymal_command_twist.yaml ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ frame_id: base
2
+ topic: anymal_command_twist