Add CSV plotting and episode recording functionality
- Implemented `plot_data_csv.py` to read CSV files and generate plots for velocity and linear acceleration signals. - Created `record1.py` for recording ESP32 IMU data, DIN/DOUT states, and RealSense camera images into episodes. - Enhanced `ProviderWorldIMUVelocityEstimator` to include stationary detection logic, resetting velocity when stationary. - Updated `EpisodeWriter` to save episode data with timestamped filenames for better organization.
This commit is contained in:
Brunsmeier
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data_csv/episode_20260710_100733_data.csv
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data_csv/episode_20260710_100733_data.csv
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frame_id,t_wall,t_monotonic,t_esp_ms,din0_gpio25_record_switch,din1_gpio26,din2_gpio27_scissor_switch,din3_gpio32,dout0_gpio18_in1,dout1_gpio19_in2,scissor_state,acc_x_g,acc_y_g,acc_z_g,gyro_x_dps,gyro_y_dps,gyro_z_dps,angle_x_deg,angle_y_deg,angle_z_deg,temp_c,vel_x_ms,vel_y_ms,vel_z_ms,lin_acc_x_ms2,lin_acc_y_ms2,lin_acc_z_ms2,acc_bias_x_ms2,acc_bias_y_ms2,acc_bias_z_ms2,bias_ready,rgb_path,depth_path
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770,1783649269.0355148,3163.916519445,35339,1,0,0,1,0,0,stop,-0.00391,0.00586,0.98389,0.0,0.0,0.0,0.3571,0.2197,14.7986,22.77,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
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||||
771,1783649269.0554564,3163.936461034,35359,1,0,0,1,0,0,stop,-0.00342,0.00586,0.98438,0.0,0.0,0.0,0.3571,0.2197,14.7986,22.77,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
772,1783649269.0755298,3163.956534254,35379,1,0,0,1,0,0,stop,-0.00391,0.00537,0.98535,0.0,0.0,0.0,0.3571,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
773,1783649269.0955632,3163.976567789,35399,1,0,0,1,0,0,stop,-0.00391,0.00586,0.98486,0.0,0.0,0.0,0.3571,0.2197,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
774,1783649269.1155264,3163.996530808,35419,1,0,0,1,0,0,stop,-0.00391,0.00586,0.98486,0.0,0.0,0.0,0.3571,0.2197,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
775,1783649269.135626,3164.016630469,35439,1,0,0,1,0,0,stop,-0.00439,0.00537,0.98438,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
776,1783649269.155396,3164.036400479,35459,1,0,0,1,0,0,stop,-0.00439,0.00586,0.98438,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.77,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
777,1783649269.1753476,3164.056352017,35479,1,0,0,1,0,0,stop,-0.00342,0.00586,0.98584,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
778,1783649269.1956055,3164.076610281,35499,1,0,0,1,0,0,stop,-0.00537,0.00586,0.98535,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
779,1783649269.2154005,3164.096404848,35519,1,0,0,1,0,0,stop,-0.00342,0.00635,0.98438,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.9,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
780,1783649269.2354865,3164.116491164,35539,1,0,0,1,0,0,stop,-0.00439,0.00684,0.98486,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
781,1783649269.2560813,3164.137085942,35559,1,0,0,1,0,0,stop,-0.00391,0.00586,0.98486,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.87,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
782,1783649269.276257,3164.157261689,35580,1,0,0,1,0,0,stop,-0.00342,0.00586,0.98535,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
783,1783649269.2954917,3164.176495944,35599,1,0,0,1,0,0,stop,-0.00391,0.00635,0.98389,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
784,1783649269.3154051,3164.196409579,35619,1,0,0,1,0,0,stop,-0.00391,0.00488,0.98633,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
785,1783649269.3353877,3164.216392216,35639,1,0,0,1,0,0,stop,-0.00342,0.00684,0.98438,0.0,0.0,0.0,0.3461,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
786,1783649269.355497,3164.236501615,35659,1,0,0,1,0,0,stop,-0.00342,0.00586,0.98486,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
787,1783649269.3754423,3164.25644657,35679,1,0,0,1,0,0,stop,-0.00391,0.00537,0.98486,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
788,1783649269.3955412,3164.27654573,35699,1,0,0,1,0,0,stop,-0.00342,0.00635,0.98486,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.77,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
789,1783649269.4155133,3164.296517998,35719,1,0,0,1,0,0,stop,-0.00342,0.00684,0.98535,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
790,1783649269.4356108,3164.316615444,35739,1,0,0,1,0,0,stop,-0.00391,0.00684,0.98438,0.0,0.0,0.0,0.3516,0.2252,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
791,1783649269.4556754,3164.336679968,35759,1,0,0,1,0,0,stop,-0.00293,0.00586,0.98535,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
792,1783649269.4754705,3164.356475186,35779,0,0,0,1,0,0,stop,-0.00439,0.00635,0.98584,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.88,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
793,1783649269.495404,3164.376408559,35799,0,0,0,1,0,0,stop,-0.00439,0.00635,0.98291,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
794,1783649269.5156736,3164.396678165,35819,0,0,0,1,0,0,stop,-0.00342,0.00488,0.98242,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
795,1783649269.5356016,3164.416606148,35839,0,0,0,1,0,0,stop,-0.00293,0.00684,0.9873,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.79,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
796,1783649269.5553997,3164.436404312,35859,0,0,0,1,0,0,stop,-0.00293,0.00635,0.98584,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
797,1783649269.5753505,3164.456354937,35879,0,0,0,1,0,0,stop,-0.00391,0.00586,0.98535,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
798,1783649269.5956056,3164.476610036,35899,0,0,0,1,0,0,stop,-0.00342,0.00586,0.98633,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
799,1783649269.6155515,3164.496555943,35919,0,0,0,1,0,0,stop,-0.00439,0.00635,0.98486,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.83,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
800,1783649269.6360397,3164.517044328,35939,0,0,0,1,0,0,stop,-0.00439,0.00684,0.98486,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
801,1783649269.6559298,3164.536934477,35959,0,0,0,1,0,0,stop,-0.00342,0.00635,0.98438,0.0,0.0,0.0,0.3461,0.2197,14.7986,22.82,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
802,1783649269.675714,3164.556718655,35979,0,0,0,1,0,0,stop,-0.00391,0.00684,0.98535,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.8,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
803,1783649269.695647,3164.576651507,35999,0,0,0,1,0,0,stop,-0.00391,0.00586,0.98438,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
804,1783649269.71557,3164.59657455,36019,0,0,0,1,0,0,stop,-0.00439,0.00586,0.98486,0.0,0.0,0.0,0.3516,0.2197,14.7986,22.85,0.0,0.0,0.0,0.0,0.0,0.0,-0.0020988574079945066,-0.005672574614143259,-0.1541399388001667,1,,
|
||||
|
Reference in New Issue
Block a user