ASENA FLIGHT RECORDER

One recording. Synchronized signals.

Real robot data

MCAPdeck-20260908-175129.mcapBag time 579.00 s · 579–589 s excerpt

What the robot saw

360° camera · ≈ 2 Hz

/camera/rgb360

Measured left knee0.139 rad

How its body moved

29 joints + base pose · 20 Hz

Static G1 model preview; press Play to load the recorded body replay

Static preview · load replay with Play

Base displacement0.000 m

Relative yaw0.0°

State sample000 / 200

00:00.00 / 00:10

Press Play or scrub to load the 3D model. Camera and body share the recorded clock.

Inspect this recorded state sample 29 joint angles, pose, timestamp

The replay interpolates between measured states. This is the nearest exported 20 Hz sample; positions use the recording’s coordinates, before the display’s axis conversion.

{
  "bag_time_s": 579.0,
  "clip_time_s": 0.0,
  "sample_index": 0,
  "q29_rad": [
    0.122071,
    0.100229,
    0.265475,
    0.138638,
    -0.219354,
    -0.028817,
    -0.025865,
    -0.007926,
    -0.157328,
    0.194483,
    -0.16011,
    -0.014144,
    0.007794,
    0.024403,
    0.139196,
    -0.027935,
    0.27354,
    -0.606054,
    1.044976,
    -0.083686,
    -0.170763,
    0.117661,
    -0.025347,
    -0.296166,
    0.583212,
    0.979483,
    0.129609,
    -0.065086,
    -0.27662
  ],
  "root_position_m": [
    0,
    0,
    0.732141
  ],
  "root_quaternion_wxyz": [
    0.999956,
    -0.008018,
    -0.004899,
    -3.9e-05
  ],
  "odometry_position_m": [
    1.186216,
    -0.250574,
    0.732141
  ],
  "odometry_yaw_rad": -0.372653
}