Robot Sensor Recordings
Joint, motion-sensor and audio recordings from several kinds of robot, synced to under a millisecond.
Sample
3 recordsBooster T1 proprioception sample (23 joints)
Representative of the real line. Positions in rad, velocities in rad/s, efforts in Nm.
{
"timestamp": 3.0976,
"unix_timestamp": 1766526822.3984,
"positions": {
"Waist": -0.0048,
"Left_Hip_Pitch": -0.3126,
"Left_Knee_Pitch": 0.4141,
"Head_pitch": 0.3603
},
"velocities": {
"Left_Knee_Pitch": -0.00929,
"Right_Knee_Pitch": 0.00759
},
"efforts": {
"Left_Hip_Yaw": 2.9137,
"Left_Knee_Pitch": -4.2377
}
}LimX Tron IMU sample (6-DOF + orientation)
Representative of the real line. Acceleration in m/s^2, gyro in rad/s, plus a quaternion and a nanosecond stamp.
{
"timestamp": 0.009156,
"unix_timestamp": 1760757712.1551,
"stamp_ns": 10578143272597,
"accel": [9.4843, 0.0972, 2.7084],
"gyro": [0.000252, -0.0000055, -0.00882],
"quat": [0.2879, 0.5626, -0.2103, 0.7459]
}LimX Tron odometry sample (base pose + twist)
Representative of the real line. World position and orientation plus linear and angular velocity.
{
"timestamp": 0.008726,
"unix_timestamp": 1760758026.129,
"pose_position": [0.7061, 0.3026, 0.1516],
"pose_orientation": [0.5434, -0.2517, 0.7253, 0.3395],
"twist_linear": [0.00143, 0.00146, 0.00063]
}Specifications
| Formats | JSONL, NPZ, WAV |
|---|---|
| Delivery | S3, REST API |
| Cadence | Streamed with every collection run |
| Coverage | 2023 to 2026 |
| Proprioception | 75-920Hz joint pos/vel/effort |
| IMU | 1000Hz, 6-DOF |
| Audio | 44.1kHz WAV |
| Sync | <1ms hardware-aligned |
| Embodiments | Booster T1, Unitree H1/G1, LimX Tron |
| Access | Org-scoped API keys, tenant isolation, and signed artifacts with checksums and access logging. |
What ships
Proprioception
Joint positions, velocities, and efforts at 75-920Hz, aligned to vision and action streams.
Inertial (IMU)
1000Hz 6-DOF inertial measurement for dynamics, balance, and contact modeling.
Time-Sync Fabric
Sub-millisecond hardware synchronization across all sensor and vision streams.
Fields
14 fields
| Field | Description |
|---|---|
| joint_sample_rate_hzfloat64 · Hz | Measured joint sampling rate (75 to 920 Hz across platforms).Example 79.23 |
| positionsmap<joint,float> · rad | Per-joint angular position (named joints).Example {"Left_Knee_Pitch":0.4141} |
| velocitiesmap<joint,float> · rad/s | Per-joint angular velocity.Example {"Left_Knee_Pitch":-0.0093} |
| effortsmap<joint,float> · Nm | Per-joint torque / effort.Example {"Left_Knee_Pitch":-4.24} |
| imu.accelfloat[3] · m/s^2 | Linear acceleration (6-DOF IMU).Example [9.4843, 0.0972, 2.7084] |
| imu.gyrofloat[3] · rad/s | Angular velocity.Example [0.00025, -0.0000, -0.0088] |
| imu.quatfloat[4] | Orientation estimate (quaternion).Example [0.288, 0.563, -0.210, 0.746] |
| imu.avg_rate_hzfloat · Hz | Measured IMU sample rate.Example 97.3 |
| odometry.pose_positionfloat[3] · m | Base position in world frame.Example [0.7061, 0.3026, 0.1516] |
| odometry.twist_linearfloat[3] · m/s | Base linear velocity.Example [0.0014, 0.0015, 0.0006] |
| audio.sample_rateint · Hz | Audio sample rate (wav).Example 16000 |
| timestampfloat64 · s | Episode-relative timestamp on every sample.Example 3.0976 |
| unix_timestampfloat64 · s | Absolute Unix timestamp on every sample, for cross-stream alignment.Example 1766526822.3984 |
| stamp_nsint64 · ns · nullable | Nanosecond hardware stamp on IMU and motor streams.Example 10578143272597 |
Load it
The first commands after an approved delivery.
# Read and align a proprioception stream # 1. Load feed/proprioception/joints.jsonl - each line is one timestamped sample # 2. Each sample carries positions / velocities / efforts maps # 3. Align across streams on unix_timestamp (or stamp_ns where present) # 4. Verify rate via sample_count / avg_rate_hz in the metadata
Quality checks
3 checksSample-rate verification
Whether each stream actually achieved its target rate.
Compare the recorded sample count and duration against the declared average rate and flag drops.
Methodology-stage. Per-stream measured rates are recorded; no aggregate published metric.
Cross-stream sync tolerance
Whether modalities fall within the synchronization budget.
The format defines a maximum acceptable inter-modality timestamp delta, and the validator checks timestamp monotonicity.
Methodology-stage. Tolerance is a spec field; no measured sync-error figure is published.
Sim-to-real sensor grounding
Whether real high-frequency traces match simulated dynamics.
Real joint and velocity traces are compared against MuJoCo replay.
Real measured: velocity tracking 0.41 rad/s MAE and a dynamic gap score of 0.065 - the real velocity stream is what grounds this. See the sim2real paper.
Ground truth
| What is correct | The physical sensor readings are themselves the ground truth. For simulation grounding, the real high-frequency velocity and position traces are the reference the simulation is scored against. |
|---|---|
| How it is established | Stream integrity is graded by SHA-256 checksums and per-stream sample-count and rate accounting; temporal validity by timestamp monotonicity; sim-to-real fidelity by MAE and RMSE against the real trace. |
| Agreement | No inter-rater agreement applies - sensor data is machine-measured. Sim-grounding correctness is anchored to the real trace. |
How it is built
- 01
High-frequency multi-sensor capture
Proprioception (joint and motor position, velocity, effort), IMU (acceleration, gyro, orientation), odometry, and audio are captured per episode at native rates.
- 02
Per-sample timestamping
Every sample carries both an episode-relative timestamp and an absolute Unix timestamp; IMU and motor streams additionally carry nanosecond stamps for fine alignment.
- 03
Cross-stream alignment
Streams are kept at native rates rather than resampled and aligned on a shared timeline. The format records a sync-tolerance budget; the architecture targets sub-millisecond hardware sync.
- 04
Per-stream accounting
Each stream sample count and average rate are recorded in metadata, enabling rate verification - for example motors at 915 Hz, IMU at 97 Hz, odometry at 96 Hz on one platform.
- 05
Integrity and packaging
Per-file SHA-256 checksums and total size are recorded, and streams are bundled in the ORTF episode structure with a manifest describing each stream type, rate, and encoding.
Request a sample
We send real records in the format you would receive, with the field list and where each record came from. Access for evaluation is limited and covered by a mutual NDA.
ProductRobot Sensor Recordings