Full Rig

More modalities. Richer data.

Head-mounted stereo plus a global-shutter camera on each wrist, hardware-triggered on one receiver. Scene view and wrist views in one episode, with IMU and sensor events on the same clock.

Discuss hardware partnerships

01Stereo · head view
02Mono module · left wrist view
03Mono module · right wrist view

OpenRobot Full Rig with Stereo head camera, two wrist-mounted Mono cameras, and a back-mounted shared receiver — RGB streams4

Receiver1

Capture30 fps

SyncHardware trigger

Real episode · soldering

See what the rig sees.

Hardware triggered

00:00.000 / 01:03.967

SyncHardware trigger

Wrist-to-wrist offset24 µs median

Dropped frames0

IMU≈505 Hz

Capture modes

Do all views need the same timestep?

Hardware sync when observations across cameras must be co-timed exactly. Independent capture when aligning on per-frame timestamps afterwards is enough.

Yes Hardware synchronized Recommended

Every camera exposes on the same trigger.

One trigger line drives Stereo and both Mono camera modules. Global shutters, so exposures align to the pulse, not to a rolling readout.

Across the rig: 30 fps
Measured wrist delta: 24 µs median
Use when: Handovers, bimanual, contact-rich tasks

No Independent capture

Each camera runs on its own clock.

No trigger cable. Streams are aligned afterwards from per-frame device timestamps.

Mono module capture: Up to 60 fps free-running
Cross-camera alignment: Device timestamps
Use when: Sub-frame timing is not required

Synchronized output

Every signal. One timeline.

01 / Vision 4 RGB streams · 30 fps

Stereo 3840 × 1200 side-by-side
2 × Mono 1920 × 1200

02 / Motion ≈505 Hz IMU

6-axis, on the same clock as every frame.

03 / Sensors GPIO event timestamps

Bring external triggers and sensor events onto the same clock.

Per-stream specification

What each camera records.

Stereo-cap numbers are the approved public spec. Mono numbers are the current wrist module. Lenses are M12 pinhole and can be swapped for a different field of view on request.

Spec	Stereo-cap · head view	Mono module · each wrist view
Sensor	2 × color global-shutter cameras, 1/2.6", 1928 × 1208 active, 3 µm pixels	Global shutter
Resolution	1920 × 1200 per eye · 3840 × 1200 side-by-side	1920 × 1200
Frame rate	30 fps	30 fps hardware-synchronized · up to 60 fps free-running
Shutter	Global · hardware same-frame exposure, 0 µs left/right offset over 23,023 frames	Global
Field of view	≈112° H · 80° V (±3°) · 119° D	≈112° H · 80° V (±3°) · 119° D
Lens	M12 pinhole, ultra-wide · customizable	M12 pinhole · customizable
Stereo baseline	≈60 mm	—
Motion	6-axis IMU ≈505 Hz, ±1000 dps, ±4 g · ≈0.4 ms video-to-IMU alignment	—
Timestamps	Per-frame hardware sync timestamps, device microseconds	Per-frame device timestamps
Cross-camera sync	One shared hardware trigger across the rig · 24 µs median wrist-to-wrist offset · 0 dropped frames in tested sessions
Calibration	Per-eye intrinsics + stereo extrinsics · pinhole + Brown-Conrady · ≈0.36 px stereo reprojection RMS	Pinhole + Brown-Conrady intrinsics on request
Interface	USB 2.0 High-Speed UVC to the OpenRobot receiver
Recording	Local to the receiver · bring your own compatible removable SD storage and USB power bank · phone control over Bluetooth and 2.4 GHz Wi-Fi · no laptop in the capture loop

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