Data model | Docs

Every processed segment carries five layers, aligned to one clock and one coordinate frame.

Layer	What it holds	Where to find it
Scene	Gaussian splats, meshes and collision geometry of the place	`segment.assets`, `Segment.scene_at()`
Motion	Camera, object and body trajectories	Entity trajectories, `poses/*` channels
Interaction	Grasps, placements, doors, drawers, tools	`segment.events`, `Segment.events()`
Robot state	Joint positions, velocities, effort, gripper	`joints/`, `gripper/` channels
Context	Lighting, clutter, surface, weather, people	`segment.context`

Channel names

Rayform renames source topics to stable channel names, so loaders work the same across robots:

Channel	Source examples
`cam{n}/rgb`, `cam{n}/depth`	`/camera/color/image_raw`, `/camera/depth/image_rect_raw`
`wrist/rgb`	A camera mounted on the end effector
`lidar/points`	`/velodyne_points`, `/ouster/points`
`imu`	`/imu/data`
`joints/position`, `joints/velocity`, `joints/effort`	`/joint_states`
`joints/position_delta`	Derived: change in position to the next sample
`gripper/position`	Gripper joint or command topic
`poses/{entity}`	Derived trajectories, for example `poses/cam0`, `poses/ent_mug_1`

The mapping for each session is listed in session.channels with the original topic names, so nothing is hidden.

Field	Description
`id`	Stable within a session, for example `ent_mug_1`
`category`	Open-vocabulary label, for example `mug`, `person`, `robot_arm`
`moves`	Whether the entity moved during the segment
`trajectory`	Poses over time in the site frame, as channel `poses/{id}`
`asset`	Splats of the entity alone, when it moves

Type	Meaning
`grasp`	A hand or gripper closes on an object
`place`	An object is released onto a surface
`push`	An object moves under contact without a grasp
`open_drawer`, `close_drawer`	Drawer state changes
`open_door`, `close_door`	Door state changes
`handover`	An object passes between two agents
`pour`, `wipe`	Tool actions

Events carry a span (t_start_ns to t_end_ns), the instant of contact (t_ns), the entities involved, and a confidence.