{ "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 } } } } ] }