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Datasets:
leggedrobotics
/
grand_tour_dataset

Tasks:
Robotics
Size:
1M<n<10M
Tags:
robotics
lidar
camera
vision
imu
legged
License:
Dataset card Files Community
2
JonasFrey96 commited on
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  1. 2024-10-01-11-29-55/metadata/adis_imu.yaml +14 -0
  2. 2024-10-01-11-29-55/metadata/alphasense_front_center.yaml +14 -0
  3. 2024-10-01-11-29-55/metadata/alphasense_front_center_caminfo.yaml +51 -0
  4. 2024-10-01-11-29-55/metadata/alphasense_front_left.yaml +14 -0
  5. 2024-10-01-11-29-55/metadata/alphasense_front_left_caminfo.yaml +51 -0
  6. 2024-10-01-11-29-55/metadata/alphasense_front_right.yaml +14 -0
  7. 2024-10-01-11-29-55/metadata/alphasense_front_right_caminfo.yaml +51 -0
  8. 2024-10-01-11-29-55/metadata/alphasense_imu.yaml +14 -0
  9. 2024-10-01-11-29-55/metadata/alphasense_left.yaml +14 -0
  10. 2024-10-01-11-29-55/metadata/alphasense_left_caminfo.yaml +51 -0
  11. 2024-10-01-11-29-55/metadata/alphasense_right.yaml +14 -0
  12. 2024-10-01-11-29-55/metadata/alphasense_right_caminfo.yaml +51 -0
  13. 2024-10-01-11-29-55/metadata/anymal_command_twist.yaml +2 -0
  14. 2024-10-01-11-29-55/metadata/anymal_imu.yaml +14 -0
  15. 2024-10-01-11-29-55/metadata/anymal_state_actuator.yaml +2 -0
  16. 2024-10-01-11-29-55/metadata/anymal_state_battery.yaml +2 -0
  17. 2024-10-01-11-29-55/metadata/anymal_state_odometry.yaml +2 -0
  18. 2024-10-01-11-29-55/metadata/anymal_state_state_estimator.yaml +2 -0
  19. 2024-10-01-11-29-55/metadata/ap20_imu.yaml +14 -0
  20. 2024-10-01-11-29-55/metadata/cpt7_ie_rt_odometry.yaml +2 -0
  21. 2024-10-01-11-29-55/metadata/cpt7_ie_rt_tf.yaml +14 -0
  22. 2024-10-01-11-29-55/metadata/cpt7_ie_tc_odometry.yaml +2 -0
  23. 2024-10-01-11-29-55/metadata/cpt7_ie_tc_tf.yaml +14 -0
  24. 2024-10-01-11-29-55/metadata/cpt7_imu.yaml +14 -0
  25. 2024-10-01-11-29-55/metadata/depth_camera_front_lower_caminfo.yaml +1 -0
  26. 2024-10-01-11-29-55/metadata/depth_camera_front_upper.yaml +14 -0
  27. 2024-10-01-11-29-55/metadata/depth_camera_front_upper_caminfo.yaml +52 -0
  28. 2024-10-01-11-29-55/metadata/depth_camera_left.yaml +14 -0
  29. 2024-10-01-11-29-55/metadata/depth_camera_left_caminfo.yaml +52 -0
  30. 2024-10-01-11-29-55/metadata/depth_camera_rear_lower_caminfo.yaml +1 -0
  31. 2024-10-01-11-29-55/metadata/depth_camera_rear_upper.yaml +14 -0
  32. 2024-10-01-11-29-55/metadata/depth_camera_rear_upper_caminfo.yaml +52 -0
  33. 2024-10-01-11-29-55/metadata/depth_camera_right.yaml +14 -0
  34. 2024-10-01-11-29-55/metadata/depth_camera_right_caminfo.yaml +52 -0
  35. 2024-10-01-11-29-55/metadata/dlio_hesai_points_undistorted.yaml +14 -0
  36. 2024-10-01-11-29-55/metadata/dlio_map_odometry.yaml +2 -0
  37. 2024-10-01-11-29-55/metadata/dlio_tf.yaml +14 -0
  38. 2024-10-01-11-29-55/metadata/gnss_raw_cpt7_ie_rt.yaml +2 -0
  39. 2024-10-01-11-29-55/metadata/gnss_raw_cpt7_ie_tc.yaml +2 -0
  40. 2024-10-01-11-29-55/metadata/hdr_front.yaml +14 -0
  41. 2024-10-01-11-29-55/metadata/hdr_front_caminfo.yaml +51 -0
  42. 2024-10-01-11-29-55/metadata/hdr_left.yaml +14 -0
  43. 2024-10-01-11-29-55/metadata/hdr_left_caminfo.yaml +51 -0
  44. 2024-10-01-11-29-55/metadata/hdr_right.yaml +14 -0
  45. 2024-10-01-11-29-55/metadata/hdr_right_caminfo.yaml +51 -0
  46. 2024-10-01-11-29-55/metadata/hesai.yaml +14 -0
  47. 2024-10-01-11-29-55/metadata/hesai_undistorted.yaml +14 -0
  48. 2024-10-01-11-29-55/metadata/livox_imu.yaml +14 -0
  49. 2024-10-01-11-29-55/metadata/livox_points.yaml +14 -0
  50. 2024-10-01-11-29-55/metadata/livox_points_undistorted.yaml +14 -0
2024-10-01-11-29-55/metadata/adis_imu.yaml ADDED
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2024-10-01-11-29-55/metadata/alphasense_front_center.yaml ADDED
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+ frame_id: alphasense_front_center
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2024-10-01-11-29-55/metadata/alphasense_front_left.yaml ADDED
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+ frame_id: alphasense_front_left
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+ topic: alphasense_front_left
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+ transform:
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+ base_frame_id: box_base
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+ child_frame_id: alphasense_front_left
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+ rotation:
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+ w: 0.5368758638762299
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+ x: -0.45974498896225247
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2024-10-01-11-29-55/metadata/alphasense_front_right.yaml ADDED
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+ frame_id: alphasense_front_right
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+ topic: alphasense_front_right
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+ transform:
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2024-10-01-11-29-55/metadata/alphasense_imu.yaml ADDED
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+ frame_id: alphasense_imu
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+ topic: alphasense_imu
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+ frame_id: alphasense_left
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+ child_frame_id: alphasense_left
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2024-10-01-11-29-55/metadata/alphasense_right.yaml ADDED
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+ frame_id: alphasense_right
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2024-10-01-11-29-55/metadata/anymal_command_twist.yaml ADDED
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2024-10-01-11-29-55/metadata/anymal_state_state_estimator.yaml ADDED
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+ frame_id: odom
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2024-10-01-11-29-55/metadata/ap20_imu.yaml ADDED
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+ frame_id: ap20_imu
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2024-10-01-11-29-55/metadata/cpt7_ie_rt_odometry.yaml ADDED
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+ frame_id: enu_origin
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+ topic: cpt7_ie_rt_odometry
2024-10-01-11-29-55/metadata/cpt7_ie_rt_tf.yaml ADDED
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+ frame_id: cpt7_imu
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2024-10-01-11-29-55/metadata/dlio_hesai_points_undistorted.yaml ADDED
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2024-10-01-11-29-55/metadata/hesai_undistorted.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: hesai_lidar
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+ topic: hesai_undistorted
3
+ transform:
4
+ base_frame_id: box_base
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+ child_frame_id: hesai_lidar
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+ translation:
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+ x: -0.04461184951630229
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+ y: 0.3022381420105506
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+ z: -0.01253994548350209
2024-10-01-11-29-55/metadata/livox_imu.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: livox_imu
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+ topic: livox_imu
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+ transform:
4
+ base_frame_id: box_base
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+ child_frame_id: livox_imu
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+ rotation:
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+ x: -0.007862897821623277
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+ z: -0.005941433347507674
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+ translation:
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+ x: -0.309334506793968
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+ y: 0.02772866572054537
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+ z: 0.15059851991550668
2024-10-01-11-29-55/metadata/livox_points.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: livox_lidar
2
+ topic: livox_points
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+ transform:
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+ base_frame_id: box_base
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+ child_frame_id: livox_lidar
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+ rotation:
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+ x: -0.006935301181255335
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+ y: 0.0015623437878433857
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+ z: -0.0009229362387923458
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+ translation:
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+ x: -0.30263164816469024
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+ y: 0.04875595821861217
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+ z: 0.1098417136717083
2024-10-01-11-29-55/metadata/livox_points_undistorted.yaml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ frame_id: livox_lidar
2
+ topic: livox_points_undistorted
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+ transform:
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+ base_frame_id: box_base
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+ child_frame_id: livox_lidar
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+ rotation:
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+ x: -0.006935301181255335
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+ y: 0.0015623437878433857
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+ z: -0.0009229362387923458
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+ translation:
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+ x: -0.30263164816469024
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+ y: 0.04875595821861217
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+ z: 0.1098417136717083