Robotics
Ingest robotics logs such as MCAP, and construct poses, transforms, point clouds, scenes, annotations, and sensor values.
Scalar Functions
| Function | Summary |
|---|---|
spql.annotation.annotations_2d | Construct a spql.Annotations2D value. |
spql.annotation.circle_2d | Construct a spql.Circle2D value. |
spql.annotation.text_2d | Construct a spql.Text2D value. |
spql.audio.audio_buffer | Construct a spql.AudioBuffer value. |
spql.camera.camera_calibration | Construct a spql.CameraCalibration value. |
spql.kinematics.joint_state | Construct a spql.JointState value. |
spql.log.log_entry | Construct a spql.LogEntry value. |
spql.navigation.geo_position | Construct a spql.GeoPosition value. |
spql.navigation.location_fix | Construct a spql.LocationFix value. |
spql.navigation.odometry | Construct a spql.Odometry value. |
spql.pointcloud.encoded_point_cloud | Construct a spql.EncodedPointCloud value. |
spql.pointcloud.grid | Construct a spql.Grid value. |
spql.pointcloud.laser_scan | Construct a spql.LaserScan value. |
spql.pointcloud.point_cloud | Construct a spql.PointCloud value. |
spql.pose.points_2d | Construct a spql.Points2D value. |
spql.pose.points_3d | Construct a spql.Points3D value. |
spql.pose.pose_3d | Construct a spql.Pose3D value. |
spql.pose.position_2d | Construct a spql.Position2D value. |
spql.pose.position_3d | Construct a spql.Position3D value. |
spql.pose.quaternion | Construct a spql.Quaternion value. |
spql.pose.transform_3d | Construct a spql.Transform3D value. |
spql.pose.vector_2d | Construct a spql.Vector2D value. |
spql.pose.vector_3d | Construct a spql.Vector3D value. |
spql.scene.arrow_3d | Construct a spql.Arrow3D value. |
spql.scene.box_3d | Construct a spql.Box3D value. |
spql.scene.color | Construct a spql.Color value. |
spql.scene.cylinder_3d | Construct a spql.Cylinder3D value. |
spql.scene.line_3d | Construct a spql.Line3D value. |
spql.scene.mesh_3d | Construct a spql.Mesh3D value. |
spql.scene.model_3d | Construct a spql.Model3D value. |
spql.scene.scene_entity_3d | Construct a spql.SceneEntity3D value. |
spql.scene.scene_entity_deletion | Construct a spql.SceneEntityDeletion value. |
spql.scene.scene_update_3d | Construct a spql.SceneUpdate3D value. |
spql.scene.sphere_3d | Construct a spql.Sphere3D value. |
spql.scene.text_3d | Construct a spql.Text3D value. |
spql.annotation.annotations_2d
Construct a spql.Annotations2D value.
- Kind:
scalar function - Volatility:
immutable
spql.annotation.annotations_2d(circles?, points?, text?) -> spql.Annotations2D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
circles | no | list(spql.Circle2D)? | Circle annotations in image coordinates. |
points | no | list(spql.Points2D)? | Point annotations in image coordinates. |
text | no | list(spql.Text2D)? | Text annotations in image coordinates. |
spql.annotation.circle_2d
Construct a spql.Circle2D value.
- Kind:
scalar function - Volatility:
immutable
spql.annotation.circle_2d(center, radius, thickness?, fill_color?, outline_color?, metadata?) -> spql.Circle2D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
center | yes | spql.Position2D? | Center of the circle in image pixels. |
radius | yes | f64? | Radius of the circle in image pixels. |
thickness | no | f64? | Outline thickness in image pixels. |
fill_color | no | spql.Color? | Color of the filled interior. |
outline_color | no | spql.Color? | Color of the circle outline. |
metadata | no | list(struct { key, value })? | Additional key-value attributes of the annotation. |
spql.annotation.text_2d
Construct a spql.Text2D value.
- Kind:
scalar function - Volatility:
immutable
spql.annotation.text_2d(position, text, color?, background_color?, font_size?, metadata?) -> spql.Text2D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
position | yes | spql.Position2D? | Text position in image pixels. |
text | yes | utf8? | Text to display. |
color | no | spql.Color? | Text foreground color. |
background_color | no | spql.Color? | Text background color. |
font_size | no | f64? | Font size in image pixels. |
metadata | no | list(struct { key, value })? | Additional key-value attributes of the annotation. |
spql.audio.audio_buffer
Construct a spql.AudioBuffer value.
- Kind:
scalar function - Volatility:
immutable
spql.audio.audio_buffer(data, sample_format, sample_rate, channels) -> spql.AudioBuffer?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
data | yes | binary? | PCM payload in the layout described by sample_format. |
sample_format | yes | utf8? | FFmpeg sample format name, such as s16 or fltp. |
sample_rate | yes | u32? | Number of samples per second in each channel. |
channels | yes | u32? | Number of audio channels. |
spql.camera.camera_calibration
Construct a spql.CameraCalibration value.
- Kind:
scalar function - Volatility:
immutable
spql.camera.camera_calibration(width, height, intrinsic, distortion_model?, distortion_coefficients?, rectification?, projection?) -> spql.CameraCalibration?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
width | yes | u32? | Width of the calibrated image in pixels. |
height | yes | u32? | Height of the calibrated image in pixels. |
intrinsic | yes | list(f64)? | Intrinsic matrix K, 3x3 row-major. |
distortion_model | no | utf8? | Name of the lens distortion model, when present. |
distortion_coefficients | no | list(f64)? | Coefficients in the order defined by the distortion model. |
rectification | no | list(f64)? | Rectification matrix R, 3x3 row-major. |
projection | no | list(f64)? | Projection matrix P, 3x4 row-major. |
spql.kinematics.joint_state
Construct a spql.JointState value.
- Kind:
scalar function - Volatility:
immutable
spql.kinematics.joint_state(name, position?, velocity?, acceleration?, effort?) -> spql.JointState?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
name | yes | utf8? | Name of the joint. |
position | no | f64? | Angular or linear joint position, when known. |
velocity | no | f64? | Angular or linear joint velocity, when known. |
acceleration | no | f64? | Angular or linear joint acceleration, when known. |
effort | no | f64? | Torque or force applied at the joint, when known. |
spql.log.log_entry
Construct a spql.LogEntry value.
- Kind:
scalar function - Volatility:
immutable
spql.log.log_entry(level, message, name?, file?, line?) -> spql.LogEntry?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
level | yes | i32? | Severity code of the log record. |
message | yes | utf8? | Text of the log message. |
name | no | utf8? | Name of the logger or emitting component. |
file | no | utf8? | Source file associated with the record. |
line | no | u32? | Source line associated with the record. |
spql.navigation.geo_position
Construct a spql.GeoPosition value.
- Kind:
scalar function - Volatility:
immutable
spql.navigation.geo_position(latitude, longitude, altitude?) -> spql.GeoPosition?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
latitude | yes | f64? | Latitude in degrees. |
longitude | yes | f64? | Longitude in degrees. |
altitude | no | f64? | Altitude of the geographic position, when known. |
spql.navigation.location_fix
Construct a spql.LocationFix value.
- Kind:
scalar function - Volatility:
immutable
spql.navigation.location_fix(position, covariance?, covariance_type?, heading?, velocity?, color?, metadata?) -> spql.LocationFix?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
position | yes | spql.GeoPosition? | Estimated geographic position. |
covariance | no | list(f64)? | Covariance values for the geographic position estimate. |
covariance_type | no | i32? | Code describing how to interpret the covariance. |
heading | no | f64? | Heading of the location estimate, when known. |
velocity | no | spql.Vector3D? | Estimated three-dimensional velocity, when known. |
color | no | spql.Color? | Display color for the location estimate. |
metadata | no | list(struct { key, value })? | Additional key-value attributes of the estimate. |
spql.navigation.odometry
Construct a spql.Odometry value.
- Kind:
scalar function - Volatility:
immutable
spql.navigation.odometry(pose, linear_velocity?, angular_velocity?, pose_covariance?, velocity_covariance?, metadata?) -> spql.Odometry?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Estimated position and orientation. |
linear_velocity | no | spql.Vector3D? | Estimated linear velocity. |
angular_velocity | no | spql.Vector3D? | Estimated angular velocity. |
pose_covariance | no | list(f64)? | Covariance values for the pose estimate. |
velocity_covariance | no | list(f64)? | Covariance values for the velocity estimate. |
metadata | no | list(struct { key, value })? | Additional key-value attributes of the estimate. |
spql.pointcloud.encoded_point_cloud
Construct a spql.EncodedPointCloud value.
- Kind:
scalar function - Volatility:
immutable
spql.pointcloud.encoded_point_cloud(source, format, pose?) -> spql.EncodedPointCloud?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
source | yes | spql.Blob? | Blob containing the encoded point-cloud payload. |
format | yes | utf8? | Point-cloud encoding name, such as pcd, las, laz or draco. |
pose | no | spql.Pose3D? | Pose of the point cloud in the row's frame. |
spql.pointcloud.grid
Construct a spql.Grid value.
- Kind:
scalar function - Volatility:
immutable
spql.pointcloud.grid(column_count, cell_size, row_stride, cell_stride, fields, data, pose?) -> spql.Grid?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
column_count | yes | u32? | Number of cells in each grid row. |
cell_size | yes | spql.Vector2D? | Width and height of one cell in grid coordinates. |
row_stride | yes | u32? | Bytes from the start of one row to the start of the next. |
cell_stride | yes | u32? | Bytes from the start of one cell to the start of the next. |
fields | yes | list(struct { name, offset, dtype, count })? | Field names, types and byte offsets within each packed cell. |
data | yes | binary? | Packed cell records using the declared fields and strides. |
pose | no | spql.Pose3D? | Pose of the grid in the row's frame. |
spql.pointcloud.laser_scan
Construct a spql.LaserScan value.
- Kind:
scalar function - Volatility:
immutable
spql.pointcloud.laser_scan(pose, start_angle, end_angle, ranges, intensities?) -> spql.LaserScan?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Pose of the range sensor in the row's frame. |
start_angle | yes | f64? | Angle of the first range measurement. |
end_angle | yes | f64? | Angle of the last range measurement. |
ranges | yes | list(f64)? | Range measurements ordered from start_angle to end_angle. |
intensities | no | list(f64)? | Per-measurement intensities aligned with ranges. |
spql.pointcloud.point_cloud
Construct a spql.PointCloud value.
- Kind:
scalar function - Volatility:
immutable
spql.pointcloud.point_cloud(point_stride, fields, data, pose?) -> spql.PointCloud?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
point_stride | yes | u32? | Bytes from the start of one point to the start of the next. |
fields | yes | list(struct { name, offset, dtype, count })? | Field names, types and byte offsets within each packed point. |
data | yes | binary? | Packed point records using the declared fields and point_stride. |
pose | no | spql.Pose3D? | Pose of the point cloud in the row's frame. |
spql.pose.points_2d
Construct a spql.Points2D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.points_2d(positions, colors?, radii?, labels?, topology?) -> spql.Points2D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
positions | yes | list(spql.Position2D)? | Two-dimensional point positions in order. |
colors | no | list(spql.Color)? | Per-point colors aligned with positions. |
radii | no | list(f64)? | Per-point radii aligned with positions. |
labels | no | list(utf8)? | Per-point text labels aligned with positions. |
topology | no | utf8? | Connectivity description for the points. |
spql.pose.points_3d
Construct a spql.Points3D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.points_3d(positions, colors?, radii?, labels?) -> spql.Points3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
positions | yes | list(spql.Position3D)? | Three-dimensional point positions in order. |
colors | no | list(spql.Color)? | Per-point colors aligned with positions. |
radii | no | list(f64)? | Per-point radii aligned with positions. |
labels | no | list(utf8)? | Per-point text labels aligned with positions. |
spql.pose.pose_3d
Construct a spql.Pose3D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.pose_3d(position, orientation) -> spql.Pose3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
position | yes | spql.Position3D? | Position of the object in the row's frame. |
orientation | yes | spql.Quaternion? | Orientation of the object in the row's frame. |
spql.pose.position_2d
Construct a spql.Position2D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.position_2d(x, y) -> spql.Position2D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
x | yes | f64? | X coordinate in the declared coordinate system. |
y | yes | f64? | Y coordinate in the declared coordinate system. |
spql.pose.position_3d
Construct a spql.Position3D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.position_3d(x, y, z) -> spql.Position3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
x | yes | f64? | X coordinate in the declared coordinate system. |
y | yes | f64? | Y coordinate in the declared coordinate system. |
z | yes | f64? | Z coordinate in the declared coordinate system. |
spql.pose.quaternion
Construct a spql.Quaternion value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.quaternion(x, y, z, w) -> spql.Quaternion?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
x | yes | f64? | X component of the unit quaternion. |
y | yes | f64? | Y component of the unit quaternion. |
z | yes | f64? | Z component of the unit quaternion. |
w | yes | f64? | Scalar component of the unit quaternion. |
spql.pose.transform_3d
Construct a spql.Transform3D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.transform_3d(translation, rotation, scale?, parent_frame_id?, child_frame_id?) -> spql.Transform3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
translation | yes | spql.Vector3D? | Translation from the child frame into the parent frame. |
rotation | yes | spql.Quaternion? | Rotation from the child frame into the parent frame. |
scale | no | spql.Vector3D? | Scale along each child-frame axis, when supplied. |
parent_frame_id | no | utf8? | Identifier of the frame the transform maps into. |
child_frame_id | no | utf8? | Identifier of the frame the transform maps from. |
spql.pose.vector_2d
Construct a spql.Vector2D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.vector_2d(x, y) -> spql.Vector2D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
x | yes | f64? | X component of the direction or displacement. |
y | yes | f64? | Y component of the direction or displacement. |
spql.pose.vector_3d
Construct a spql.Vector3D value.
- Kind:
scalar function - Volatility:
immutable
spql.pose.vector_3d(x, y, z) -> spql.Vector3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
x | yes | f64? | X component of the direction or displacement. |
y | yes | f64? | Y component of the direction or displacement. |
z | yes | f64? | Z component of the direction or displacement. |
spql.scene.arrow_3d
Construct a spql.Arrow3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.arrow_3d(pose, shaft_length, shaft_diameter, head_length, head_diameter, color?) -> spql.Arrow3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Position and orientation of the arrow. |
shaft_length | yes | f64? | Length of the arrow shaft in scene units. |
shaft_diameter | yes | f64? | Diameter of the arrow shaft in scene units. |
head_length | yes | f64? | Length of the arrow head in scene units. |
head_diameter | yes | f64? | Diameter of the arrow head in scene units. |
color | no | spql.Color? | Color of the arrow. |
spql.scene.box_3d
Construct a spql.Box3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.box_3d(pose, size, color?) -> spql.Box3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Position and orientation of the box. |
size | yes | spql.Vector3D? | Box dimensions along its local axes. |
color | no | spql.Color? | Color of the box. |
spql.scene.color
Construct a spql.Color value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.color(r, g, b, a) -> spql.Color?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
r | yes | f64? | Red channel in the unit interval. |
g | yes | f64? | Green channel in the unit interval. |
b | yes | f64? | Blue channel in the unit interval. |
a | yes | f64? | Alpha channel in the unit interval; zero is transparent. |
spql.scene.cylinder_3d
Construct a spql.Cylinder3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.cylinder_3d(pose, size, top_scale, bottom_scale, color?) -> spql.Cylinder3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Position and orientation of the cylinder. |
size | yes | spql.Vector3D? | Cylinder dimensions along its local axes. |
top_scale | yes | f64? | Scale factor for the top cap. |
bottom_scale | yes | f64? | Scale factor for the bottom cap. |
color | no | spql.Color? | Color of the cylinder. |
spql.scene.line_3d
Construct a spql.Line3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.line_3d(pose, points, topology, color?, colors?, indices?, thickness?, scale_invariant?) -> spql.Line3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Pose that places the line points in the scene. |
points | yes | list(spql.Position3D)? | Line vertices in local coordinates. |
topology | yes | utf8? | Connectivity description for the line vertices. |
color | no | spql.Color? | Shared color of the line. |
colors | no | list(spql.Color)? | Per-vertex colors aligned with points. |
indices | no | list(u32)? | Vertex indices defining connectivity. |
thickness | no | f64? | Thickness of the line. |
scale_invariant | no | bool? | Whether line thickness stays constant as the view scale changes. |
spql.scene.mesh_3d
Construct a spql.Mesh3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.mesh_3d(pose, vertices, indices?, color?, colors?) -> spql.Mesh3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Pose that places the mesh in the scene. |
vertices | yes | list(spql.Position3D)? | Mesh vertices in local coordinates. |
indices | no | list(u32)? | Vertex indices defining the mesh triangles. |
color | no | spql.Color? | Shared color of the mesh. |
colors | no | list(spql.Color)? | Per-vertex colors aligned with vertices. |
spql.scene.model_3d
Construct a spql.Model3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.model_3d(pose, scale?, source?, media_type?, color?, override_color?) -> spql.Model3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Position and orientation of the model. |
scale | no | spql.Vector3D? | Scale along each local model axis. |
source | no | spql.Blob? | Blob containing the model asset. |
media_type | no | utf8? | Media type of the model asset. |
color | no | spql.Color? | Color applied to the model. |
override_color | no | bool? | Whether the supplied color overrides model material colors. |
spql.scene.scene_entity_3d
Construct a spql.SceneEntity3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.scene_entity_3d(id, frame_id, lifetime_ns?, frame_locked?, arrows?, boxes?, cylinders?, spheres?, lines?, meshes?, text?, models?, metadata?) -> spql.SceneEntity3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
id | yes | utf8? | Identifier used to replace or delete this entity. |
frame_id | yes | utf8? | Frame in which the entity primitives are posed. |
lifetime_ns | no | i64? | Lifetime of the entity in nanoseconds, when supplied. |
frame_locked | no | bool? | Whether the entity remains attached to its frame as that frame moves. |
arrows | no | list(spql.Arrow3D)? | Arrow primitives belonging to the entity. |
boxes | no | list(spql.Box3D)? | Box primitives belonging to the entity. |
cylinders | no | list(spql.Cylinder3D)? | Cylinder primitives belonging to the entity. |
spheres | no | list(spql.Sphere3D)? | Ellipsoid primitives belonging to the entity. |
lines | no | list(spql.Line3D)? | Line primitives belonging to the entity. |
meshes | no | list(spql.Mesh3D)? | Mesh primitives belonging to the entity. |
text | no | list(spql.Text3D)? | Text primitives belonging to the entity. |
models | no | list(spql.Model3D)? | Model primitives belonging to the entity. |
metadata | no | list(struct { key, value })? | Additional key-value attributes of the entity. |
spql.scene.scene_entity_deletion
Construct a spql.SceneEntityDeletion value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.scene_entity_deletion(all, id?) -> spql.SceneEntityDeletion?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
all | yes | bool? | Whether the deletion targets every scene entity. |
id | no | utf8? | Identifier of the entity to delete when all is false. |
spql.scene.scene_update_3d
Construct a spql.SceneUpdate3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.scene_update_3d(entities?, deletions?) -> spql.SceneUpdate3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
entities | no | list(spql.SceneEntity3D)? | Entities to add or replace in the scene. |
deletions | no | list(spql.SceneEntityDeletion)? | Entity deletion operations for the scene update. |
spql.scene.sphere_3d
Construct a spql.Sphere3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.sphere_3d(pose, size, color?) -> spql.Sphere3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Position and orientation of the ellipsoid. |
size | yes | spql.Vector3D? | Ellipsoid dimensions along its local axes. |
color | no | spql.Color? | Color of the ellipsoid. |
spql.scene.text_3d
Construct a spql.Text3D value.
- Kind:
scalar function - Volatility:
immutable
spql.scene.text_3d(pose, text, color?, font_size?, billboard?, scale_invariant?) -> spql.Text3D?Parameters
| Name | Required | Type | Description |
|---|---|---|---|
pose | yes | spql.Pose3D? | Position and orientation of the text. |
text | yes | utf8? | Text to display. |
color | no | spql.Color? | Text color. |
font_size | no | f64? | Size of the displayed text. |
billboard | no | bool? | Whether the text faces the viewer. |
scale_invariant | no | bool? | Whether text size stays constant as the view scale changes. |
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