DAS Ego Data Introduction
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This document introduces common topics, coordinate frames, handtracking data, and the data parsing entry points in DAS Ego data packages.
Data Parsing Tools
- Data parsing SDK: das-datakit
- Sample data:
- Source filename:
DAS-EGO-rk3588-1307e1dc38ec99a0-edge_events-DAS-Ego_20260405173815_center_leader_f3d0899d_ec99a0_process_merge_vio_first_third_infer_result.mcap - Download sample source file
- Source filename:
Topic Naming
The current data uses robot0, robot1, and robot2 to distinguish devices. This naming may be optimized in future versions.
| ID | Device |
|---|---|
robot0 | DAS Ego |
robot1 | Left DAS Finger |
robot2 | Right DAS Finger |
DAS Ego Topic
| Topic | Schema | Frequency | Description |
|---|---|---|---|
| /robot0/sensor/camera0/compressed /robot0/sensor/camera1/compressed /robot0/sensor/camera2/compressed /robot0/sensor/camera3/compressed /robot0/sensor/camera4/compressed /robot0/sensor/camera5/compressed | CompressedImage | 30HZ | Six DAS-Ego RGB camera video streams, ordered from left to right |
| /robot0/sensor/camera0/camera_info /robot0/sensor/camera1/camera_info /robot0/sensor/camera2/camera_info /robot0/sensor/camera3/camera_info /robot0/sensor/camera4/camera_info /robot0/sensor/camera5/camera_info | CameraCalibration | Single frame | Intrinsic and extrinsic parameters for the six DAS-Ego RGB cameras, ordered from left to right |
| /robot0/sensor/camera2/camera_info_resize /robot0/sensor/camera3/camera_info_resize | CameraCalibration | Single frame | Low-resolution intrinsic and extrinsic parameters for the two middle DAS-Ego cameras |
| /robot0/sensor/imu | IMUMeasurement | 200HZ | DAS-Ego IMU information |
| /robot0/vio/eef_pose | PoseInFrame | 30hz | DAS-Ego 6D pose in the Ego world coordinate frame Coordinate frame introduction: https://docs.genrobot.ai/products/das-ego#sec3 |
| /robot0/vio/relative_eef_pose | PoseInFrame | 30hz | DAS-Ego 6D pose. The DAS-Ego pose at time 0 is used as the world-frame origin, and subsequent poses record changes relative to time 0 |
| /robot0/sensor/audio | AudioData | 30HZ | Audio data. The current maximum recording length is 15 s |
| /robot0/system/info | SystemInfo | 1HZ | System information |
| /robot0/handtracking/left /robot0/handtracking/right | HandPointFrameInfo | 30Hz | Hand keypoint recognition results. Each hand contains 21 keypoints in 3D space (boneData[i].toGlobal.position) under the Ego world coordinate frame |
/debug_message/robot0/sensor/camera{0...5}/pre/hand_keypoints2d/robot0/handtracking_raw/{left,right} | DebugMessage HandKeypoints2D HandPointFrameInfo | Variable | Debug and intermediate-result fields; usually not needed for normal use |
Coordinate Frames
URDF
- DAS Ego URDF: refer to the DAS Ego URDF document.
World Coordinate Frame
The poses of DAS Ego and handtracking are represented in the world coordinate frame constructed from the Ego pose at the initial capture timestamp.
For details, see DAS Ego Manual - World Coordinate Frame.
Ego Local Coordinate Frame
The DAS Ego local coordinate frame is defined as follows:
- Origin: IMU geometric center.
- X axis: device forward direction, along the normal of the IMU mounting plane.
- Y axis: device left direction, orthogonal to X and determined by the right-hand coordinate convention.
- Z axis: device upward direction, orthogonal to X and Y and determined by the right-hand rule.
For details, see DAS Ego Manual - Local Coordinate Frame.
Handtracking Keypoint Coordinates
In handtracking, boneData[i].toGlobal.position.{x,y,z} is represented in the world coordinate frame constructed from the initial Ego pose.
The 21-keypoint topology is consistent with the MANO model and Google MediaPipe standard, as shown below. The specific topics are:
/robot0/handtracking/left/robot0/handtracking/right