| { |
| "schema_version": 1, |
| "sessions": [ |
| { |
| "captured_at": "2026-08-08T13:28:33.202886+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" |
| } |
| }, |
| "video6": { |
| "type": "opencv", |
| "configuration": { |
| "fps": 120, |
| "width": 640, |
| "height": 480, |
| "index_or_path": "/dev/video6", |
| "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/video6", |
| "resolved_device": "/dev/video6", |
| "controls": { |
| "brightness": 5, |
| "contrast": 30, |
| "saturation": 60, |
| "hue": 0, |
| "white_balance_automatic": 1, |
| "gamma": 130, |
| "gain": 0, |
| "power_line_frequency": 2, |
| "white_balance_temperature": 4600, |
| "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-0000:80:14.0-7.4.2\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-0000:80:14.0-7.4.2\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=4600 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" |
| } |
| }, |
| "realsense": { |
| "type": "intelrealsense", |
| "configuration": { |
| "fps": 30, |
| "width": 640, |
| "height": 480, |
| "serial_number_or_name": "348122071313", |
| "color_mode": "rgb", |
| "use_depth": false, |
| "rotation": 0, |
| "warmup_s": 1 |
| } |
| } |
| } |
| } |
| ] |
| } |
|
|
