| { |
| "dataset": "Bigenlight/carrot_in_pot_raw", |
| "generated_utc": "2026-09-14T14:28:17+00:00", |
| "generated_by": "make_carrot_raw_stats.py \u2014 h5py + cv2 + ffprobe audit over all 54 take folders (vectors.h5, depth.h5, cam1.mp4, cam2.mp4). mean rate = (N-1)/(t_last-t_first) per take, then median across takes; dt percentiles pooled over all takes. Video frame counts from `ffprobe -count_frames`. Value ranges pooled over all takes. Depth quality measured on ONE sampled mid frame per camera per take (decoded with cv2.imdecode(..., IMREAD_UNCHANGED)).", |
| "aggregate": { |
| "n_takes": 54, |
| "total_duration_s": 619.33, |
| "total_cam1_frames": 18557, |
| "total_cam2_frames": 18557, |
| "total_depth_cam1_frames": 18541, |
| "total_depth_cam2_frames": 18538, |
| "total_bytes": 3729216578, |
| "total_bytes_cam1_mp4": 185439561, |
| "total_bytes_cam2_mp4": 218768745, |
| "total_bytes_vectors_h5": 38692480, |
| "total_bytes_depth_h5": 3286315792, |
| "duration_median_s": 10.86, |
| "duration_min_s": 8.7, |
| "duration_max_s": 17.78, |
| "duration_min_take": "take_09_20260914_165429", |
| "duration_max_take": "take_49_20260914_171812", |
| "nan_or_inf_hits": [], |
| "absolute_path_hits": [], |
| "stray_files": [], |
| "video_frame_count_method": "ffprobe -count_frames", |
| "all_video_frame_counts_match_h5": true, |
| "video_formats": [ |
| "mpeg4|1280|720|yuv420p|30/1" |
| ], |
| "takes_with_cam1_cam2_diff": { |
| "take_01_20260914_164811": -1, |
| "take_02_20260914_164845": -1, |
| "take_03_20260914_164930": 1, |
| "take_04_20260914_165011": 1, |
| "take_05_20260914_165156": -1, |
| "take_08_20260914_165353": 1, |
| "take_09_20260914_165429": 1, |
| "take_11_20260914_165557": 1, |
| "take_13_20260914_165647": -1, |
| "take_16_20260914_165825": -1, |
| "take_17_20260914_165859": -1, |
| "take_20_20260914_170107": -1, |
| "take_21_20260914_170135": 1, |
| "take_23_20260914_170302": 1, |
| "take_25_20260914_170407": -1, |
| "take_26_20260914_170447": -1, |
| "take_27_20260914_170519": 1, |
| "take_30_20260914_170700": -1, |
| "take_32_20260914_170803": 1, |
| "take_36_20260914_171037": 1, |
| "take_40_20260914_171256": 1, |
| "take_44_20260914_171505": -1, |
| "take_54_20260914_172116": 1, |
| "take_55_20260914_172155": -1 |
| }, |
| "takes_with_depth_cam1_colour_diff": { |
| "take_04_20260914_165011": -1, |
| "take_05_20260914_165156": 1, |
| "take_08_20260914_165353": -1, |
| "take_09_20260914_165429": -1, |
| "take_10_20260914_165510": -1, |
| "take_11_20260914_165557": -1, |
| "take_17_20260914_165859": 1, |
| "take_20_20260914_170107": 1, |
| "take_21_20260914_170135": -1, |
| "take_23_20260914_170302": -1, |
| "take_26_20260914_170447": -1, |
| "take_27_20260914_170519": -1, |
| "take_28_20260914_170557": -1, |
| "take_32_20260914_170803": -1, |
| "take_34_20260914_170932": -1, |
| "take_35_20260914_171001": -1, |
| "take_36_20260914_171037": -1, |
| "take_38_20260914_171144": -1, |
| "take_40_20260914_171256": -1, |
| "take_43_20260914_171435": -1, |
| "take_44_20260914_171505": 1, |
| "take_48_20260914_171732": -1, |
| "take_52_20260914_171957": -1, |
| "take_54_20260914_172116": -1 |
| }, |
| "takes_with_depth_cam2_colour_diff": { |
| "take_01_20260914_164811": -1, |
| "take_02_20260914_164845": -1, |
| "take_04_20260914_165011": 1, |
| "take_05_20260914_165156": -1, |
| "take_07_20260914_165316": -1, |
| "take_09_20260914_165429": 1, |
| "take_11_20260914_165557": 1, |
| "take_14_20260914_165719": -1, |
| "take_16_20260914_165825": -1, |
| "take_17_20260914_165859": -1, |
| "take_18_20260914_165926": -1, |
| "take_19_20260914_170024": -1, |
| "take_20_20260914_170107": -1, |
| "take_21_20260914_170135": 1, |
| "take_22_20260914_170211": -1, |
| "take_26_20260914_170447": -1, |
| "take_28_20260914_170557": -2, |
| "take_29_20260914_170629": 1, |
| "take_31_20260914_170732": -1, |
| "take_33_20260914_170854": -1, |
| "take_39_20260914_171227": -1, |
| "take_41_20260914_171328": -1, |
| "take_43_20260914_171435": -1, |
| "take_44_20260914_171505": -1, |
| "take_46_20260914_171603": -1, |
| "take_48_20260914_171732": -1, |
| "take_49_20260914_171812": -1, |
| "take_51_20260914_171924": -1, |
| "take_54_20260914_172116": 1, |
| "take_55_20260914_172155": -1 |
| }, |
| "columns_attr_python_types": [ |
| "str" |
| ], |
| "identical_group_set_across_takes": true, |
| "groups": [ |
| "cam1_frames", |
| "cam2_frames", |
| "command", |
| "gello_joint_states", |
| "gripper", |
| "synchronized", |
| "tcp_pose", |
| "ur_joint_states", |
| "wrench" |
| ], |
| "takes_with_multiple_grip_closures": [ |
| "take_15_20260914_165753", |
| "take_39_20260914_171227", |
| "take_40_20260914_171256" |
| ], |
| "depth_valid_pct_cam1": { |
| "min": 85.15, |
| "median": 86.94, |
| "max": 88.71 |
| }, |
| "depth_valid_pct_cam2": { |
| "min": 50.48, |
| "median": 62.32, |
| "max": 67.95 |
| }, |
| "depth_median_range_m_cam1": { |
| "min": 0.526, |
| "median": 0.54, |
| "max": 0.549 |
| }, |
| "depth_median_range_m_cam2": { |
| "min": 0.184, |
| "median": 0.207, |
| "max": 0.341 |
| }, |
| "depth_camera_info_identical_across_takes": { |
| "cam1": true, |
| "cam2": true |
| }, |
| "depth_camera_info_mismatch_takes": { |
| "cam1": [], |
| "cam2": [] |
| }, |
| "depth_frames_sampled": 216, |
| "depth_max_mm_sampled": 9899, |
| "depth_pixels_over_10000mm_sampled": 0, |
| "depth_valid_pct_at_grasp_cam1": { |
| "min": 85.36, |
| "median": 86.91, |
| "max": 88.35 |
| }, |
| "depth_valid_pct_at_grasp_cam2": { |
| "min": 37.13, |
| "median": 61.51, |
| "max": 67.5 |
| } |
| }, |
| "rates": { |
| "cam1_frames": { |
| "mean_rate_hz_median_over_takes": 30.0, |
| "mean_rate_hz_min": 29.94, |
| "mean_rate_hz_max": 30.03, |
| "median_dt_ms": 33.0, |
| "p05_dt_ms": 30.0, |
| "p95_dt_ms": 37.5, |
| "max_dt_ms": 55.1, |
| "rate_from_median_dt_hz": 30.3 |
| }, |
| "cam2_frames": { |
| "mean_rate_hz_median_over_takes": 30.0, |
| "mean_rate_hz_min": 29.96, |
| "mean_rate_hz_max": 30.09, |
| "median_dt_ms": 33.1, |
| "p05_dt_ms": 30.0, |
| "p95_dt_ms": 37.5, |
| "max_dt_ms": 61.0, |
| "rate_from_median_dt_hz": 30.21 |
| }, |
| "command": { |
| "mean_rate_hz_median_over_takes": 67.33, |
| "mean_rate_hz_min": 41.22, |
| "mean_rate_hz_max": 70.37, |
| "median_dt_ms": 15.9, |
| "p05_dt_ms": 4.3, |
| "p95_dt_ms": 19.1, |
| "max_dt_ms": 44.1, |
| "rate_from_median_dt_hz": 62.89 |
| }, |
| "ur_joint_states": { |
| "mean_rate_hz_median_over_takes": 67.34, |
| "mean_rate_hz_min": 41.15, |
| "mean_rate_hz_max": 70.38, |
| "median_dt_ms": 15.9, |
| "p05_dt_ms": 4.3, |
| "p95_dt_ms": 19.1, |
| "max_dt_ms": 43.3, |
| "rate_from_median_dt_hz": 62.89 |
| }, |
| "tcp_pose": { |
| "mean_rate_hz_median_over_takes": 67.34, |
| "mean_rate_hz_min": 41.16, |
| "mean_rate_hz_max": 70.34, |
| "median_dt_ms": 15.9, |
| "p05_dt_ms": 4.2, |
| "p95_dt_ms": 19.1, |
| "max_dt_ms": 40.2, |
| "rate_from_median_dt_hz": 62.89 |
| }, |
| "wrench": { |
| "mean_rate_hz_median_over_takes": 67.34, |
| "mean_rate_hz_min": 41.16, |
| "mean_rate_hz_max": 70.34, |
| "median_dt_ms": 15.9, |
| "p05_dt_ms": 4.2, |
| "p95_dt_ms": 19.0, |
| "max_dt_ms": 41.0, |
| "rate_from_median_dt_hz": 62.89 |
| }, |
| "gripper": { |
| "mean_rate_hz_median_over_takes": 38.83, |
| "mean_rate_hz_min": 37.58, |
| "mean_rate_hz_max": 41.14, |
| "median_dt_ms": 31.4, |
| "p05_dt_ms": 2.2, |
| "p95_dt_ms": 38.1, |
| "max_dt_ms": 69.4, |
| "rate_from_median_dt_hz": 31.85 |
| }, |
| "gello_joint_states": { |
| "mean_rate_hz_median_over_takes": 30.01, |
| "mean_rate_hz_min": 29.96, |
| "mean_rate_hz_max": 30.06, |
| "median_dt_ms": 33.1, |
| "p05_dt_ms": 20.7, |
| "p95_dt_ms": 46.1, |
| "max_dt_ms": 69.6, |
| "rate_from_median_dt_hz": 30.21 |
| }, |
| "depth_cam1": { |
| "mean_rate_hz_median_over_takes": 30.0, |
| "mean_rate_hz_min": 29.92, |
| "mean_rate_hz_max": 30.07, |
| "median_dt_ms": 32.97, |
| "p05_dt_ms": 20.2, |
| "p95_dt_ms": 47.1, |
| "max_dt_ms": 68.81, |
| "rate_from_median_dt_hz": 30.33 |
| }, |
| "depth_cam2": { |
| "mean_rate_hz_median_over_takes": 30.0, |
| "mean_rate_hz_min": 29.92, |
| "mean_rate_hz_max": 30.1, |
| "median_dt_ms": 32.93, |
| "p05_dt_ms": 19.86, |
| "p95_dt_ms": 47.65, |
| "max_dt_ms": 69.24, |
| "rate_from_median_dt_hz": 30.37 |
| } |
| }, |
| "leader_vs_follower": { |
| "note": "gello_* is the GELLO LEADER. Measured here: the leader joints in this session are NOT a fixed-offset mirror of the follower (contrast cube_in_cup_raw, where joints 1-5 tracked within +/-0.011 rad). Per-joint difference statistics are given for completeness; the per-take median of the difference itself scatters (see *_take_median_std), so there is no single offset to subtract. WHY: this session was recorded in END-EFFECTOR (EEF) delta teleop mode (ur7e_gello_real.launch.py robot_ip:=<ROBOT_IP> headless_mode:=true control_mode:=eef), not joint mode. The bridge computes the leader end-effector pose by forward kinematics of a virtual leader chain, takes the pose delta, and solves IK on the UR7e to produce the joint targets in `command`. The leader's own joint angles are a different kinematic solution, so joint-1 anti-correlation is expected and joint 6 is not a 2*pi wrap. cube_in_cup_raw / banana_in_pot_raw were joint-mode recordings, hence their ~0 offsets. `command` remains the true absolute joint target in both modes.", |
| "per_joint": { |
| "gello_q1_minus_ur_q1_rad": { |
| "median": 2.7019, |
| "mean": 2.7855, |
| "p05": 2.1488, |
| "p95": 3.5632, |
| "min": 1.9188, |
| "max": 4.2352, |
| "take_median_min": 2.367, |
| "take_median_max": 3.0142, |
| "take_median_std": 0.1597, |
| "corr_gello_vs_ur_mean_over_takes": -0.785, |
| "corr_gello_vs_cmd_mean_over_takes": -0.956, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.599, |
| "n": 18573 |
| }, |
| "gello_q2_minus_ur_q2_rad": { |
| "median": -0.0147, |
| "mean": -0.0262, |
| "p05": -0.5078, |
| "p95": 0.3989, |
| "min": -0.7868, |
| "max": 0.7239, |
| "take_median_min": -0.5155, |
| "take_median_max": 0.4012, |
| "take_median_std": 0.2033, |
| "corr_gello_vs_ur_mean_over_takes": 0.078, |
| "corr_gello_vs_cmd_mean_over_takes": 0.261, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.22, |
| "n": 18573 |
| }, |
| "gello_q3_minus_ur_q3_rad": { |
| "median": -0.0242, |
| "mean": -0.0225, |
| "p05": -0.5309, |
| "p95": 0.5004, |
| "min": -1.2279, |
| "max": 0.7814, |
| "take_median_min": -0.4713, |
| "take_median_max": 0.5307, |
| "take_median_std": 0.225, |
| "corr_gello_vs_ur_mean_over_takes": -0.011, |
| "corr_gello_vs_cmd_mean_over_takes": -0.059, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.084, |
| "n": 18573 |
| }, |
| "gello_q4_minus_ur_q4_rad": { |
| "median": -0.3328, |
| "mean": -0.3129, |
| "p05": -0.6954, |
| "p95": 0.1192, |
| "min": -1.0827, |
| "max": 0.7897, |
| "take_median_min": -0.6042, |
| "take_median_max": 0.1078, |
| "take_median_std": 0.1669, |
| "corr_gello_vs_ur_mean_over_takes": 0.537, |
| "corr_gello_vs_cmd_mean_over_takes": 0.603, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.436, |
| "n": 18573 |
| }, |
| "gello_q5_minus_ur_q5_rad": { |
| "median": -0.0247, |
| "mean": -0.0127, |
| "p05": -0.3031, |
| "p95": 0.3291, |
| "min": -0.5478, |
| "max": 0.5133, |
| "take_median_min": -0.3536, |
| "take_median_max": 0.3802, |
| "take_median_std": 0.1317, |
| "corr_gello_vs_ur_mean_over_takes": 0.583, |
| "corr_gello_vs_cmd_mean_over_takes": 0.435, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.14, |
| "n": 18573 |
| }, |
| "gello_q6_minus_ur_q6_rad": { |
| "median": 2.8886, |
| "mean": 2.9601, |
| "p05": 2.2481, |
| "p95": 3.7253, |
| "min": 1.8463, |
| "max": 4.3063, |
| "take_median_min": 2.4143, |
| "take_median_max": 3.3033, |
| "take_median_std": 0.2288, |
| "corr_gello_vs_ur_mean_over_takes": 0.025, |
| "corr_gello_vs_cmd_mean_over_takes": -0.031, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.166, |
| "n": 18573 |
| } |
| } |
| }, |
| "command_tracking": { |
| "note": "|command cmd_i - ur_joint_states q_i| after nearest-timestamp alignment of the follower onto the command clock. Measured on the RAW (uncorrected) timestamps, so it is mostly the ~0.9 s timestamp artefact documented in `timestamp_lag`, NOT servo following error: on the corrected clock the 6-joint mean residual falls to 0.0007-0.0103 rad. Pooled over all takes.", |
| "per_joint": { |
| "j1": { |
| "median_of_take_medians_rad": 0.0227, |
| "mean_rad": 0.050161, |
| "max_rad": 0.281796 |
| }, |
| "j2": { |
| "median_of_take_medians_rad": 0.0611, |
| "mean_rad": 0.065053, |
| "max_rad": 0.28006 |
| }, |
| "j3": { |
| "median_of_take_medians_rad": 0.0326, |
| "mean_rad": 0.043223, |
| "max_rad": 0.341007 |
| }, |
| "j4": { |
| "median_of_take_medians_rad": 0.0796, |
| "mean_rad": 0.089992, |
| "max_rad": 0.394489 |
| }, |
| "j5": { |
| "median_of_take_medians_rad": 0.0293, |
| "mean_rad": 0.043966, |
| "max_rad": 0.317013 |
| }, |
| "j6": { |
| "median_of_take_medians_rad": 0.031, |
| "mean_rad": 0.054972, |
| "max_rad": 0.510357 |
| } |
| } |
| }, |
| "timestamp_lag": { |
| "note": "RECORDER ARTEFACT, not robot behaviour: `ur_joint_states`, `tcp_pose` and `wrench` rows are stamped LATE in this release. The GUI recorder writes every row inside its subscription callback and sets t_rel_s to the time that callback RAN; ROS header stamps are not stored. All callbacks share one rclpy spin thread, which a SingleThreadedExecutor services one message per subscription per round. Adding depth recording to this session dropped the round rate to ~67 Hz (41-70 Hz across takes; see `rates`), so every publisher faster than that keeps its KEEP_LAST queue permanently full and each row leaves the queue already `queue_depth / publish_rate` seconds old: /joint_states depth 100 at ~100 Hz -> ~1.0 s, tcp_pose and wrench depth 50 at ~100 Hz -> ~0.5 s. The starvation signature is visible in `rates`: command / ur_joint_states / tcp_pose / wrench, four topics with two different publish rates (250 Hz for command, ~100 Hz for the three controller_manager broadcasters), all converge on the same recorded rate. Streams at or below the round rate never queue and are fresh: cameras (depth header-stamp age measured at 0.022 s), depth, gello_joint_states and gripper. `command` is the one exception to the model rather than an example of it: it publishes at 250 Hz behind a depth-50 queue, so the model predicts ~0.20 s, while the scene-camera cross-correlation puts it at tau ~ 0 and the queue algebra at ~0.08 s. It is treated as fresh on that measurement, to within ~0.08 s. The lag is a PURE DELAY - the waveform is intact - so subtracting the constant below from t_rel_s restores the timebase. NOTHING IS REWRITTEN HERE: the raw files are as recorded. FIX RULE for consumers: subtract ur_joint_states_lag_s from ur_joint_states/t_rel_s and ~0.41 s from tcp_pose/t_rel_s and wrench/t_rel_s (0.900 - 0.495 = 0.405, and speed cross-correlation against command independently gives 0.41); do NOT shift anything else - the gripper and camera tables are already on the camera timebase and shifting them would create a misalignment that is not there. The recorder has since been fixed (header stamps stored, queue depths shrunk, camera/depth writes moved off the spin thread, starvation warning) and depth recording is now opt-in (ENABLE_DEPTH=1, default RGB-only) - this release predates that fix.", |
| "method": "ur_joint_states_lag_s: joint-space residual. For each candidate lag on a 5 ms grid over 0..1.5 s the ur_joint_states clock is shifted EARLIER by that lag, the six joints are linearly interpolated onto the `command` timestamps, and the lag minimising the median over time of the 6-joint mean |ur_q - cmd| is reported. residual_rad_at_lag / residual_rad_at_zero give that residual with and without the correction; the *_mean variants are the plain mean over all samples and joints, which is larger because it is dominated by the high-velocity transients where the genuine servo following error lives. ur_joint_states_lag_s_mean_objective is the argmin of that plain mean instead of the median: it is the SAME measurement and agrees to within one 5 ms grid step, and it is reported because independent re-measurements of this dataset use it and land on 0.895 s for a minority of takes. Quote the lag as 0.89-0.91 s depending on method and grid. The derived LeRobot release applies the PER-TAKE optimum from the independent re-measurement (carrot_in_pot_lag.json): 0.900 s for 41 takes and 0.895 s for 13, recorded episode by episode in its meta/source_takes.json. That release also DROPS the master frames the shift leaves with no joint sample at or after their corrected lookup time -- the last 26-28 frames (~0.9 s, the post-placement return motion) of every take, 1469 of 18557 -- so it holds 54 episodes / 17088 frames against the 18557 colour frames here. Note the two runs of the mean objective split the ties differently (38 of 54 at 0.900 here, 41 of 54 there); they never differ by more than one 5 ms grid step. xcorr_*: independent check by speed-profile cross-correlation on the same grid (speed, not position, so a constant spatial offset such as the 0.174 m tool offset cannot bias it); a positive value means the second stream is stamped that many seconds later than the first.", |
| "ur_joint_states_lag_s": { |
| "min": 0.9, |
| "median": 0.9, |
| "max": 0.9, |
| "n_takes": 54 |
| }, |
| "ur_joint_states_lag_s_mean_objective": { |
| "min": 0.895, |
| "median": 0.9, |
| "max": 0.9, |
| "n_takes": 54 |
| }, |
| "takes_at_modal_lag": 54, |
| "modal_lag_s": 0.9, |
| "residual_rad_at_lag": { |
| "min": 0.0004, |
| "median": 0.0007, |
| "max": 0.0009, |
| "n_takes": 54 |
| }, |
| "residual_rad_at_lag_mean": { |
| "min": 0.0016, |
| "median": 0.0103, |
| "max": 0.0167, |
| "n_takes": 54 |
| }, |
| "residual_rad_at_zero": { |
| "min": 0.034, |
| "median": 0.0515, |
| "max": 0.0814, |
| "n_takes": 54 |
| }, |
| "residual_rad_at_zero_mean": { |
| "min": 0.0447, |
| "median": 0.0581, |
| "max": 0.0782, |
| "n_takes": 54 |
| }, |
| "xcorr_command_to_ur_joint_states_s": { |
| "min": 0.58, |
| "median": 0.905, |
| "max": 0.94, |
| "n_takes": 54 |
| }, |
| "xcorr_command_to_tcp_pose_s": { |
| "min": 0.375, |
| "median": 0.41, |
| "max": 1.395, |
| "n_takes": 54 |
| }, |
| "xcorr_tcp_pose_to_ur_joint_states_s": { |
| "min": 0.0, |
| "median": 0.465, |
| "max": 0.8, |
| "n_takes": 54 |
| }, |
| "fresh_streams": [ |
| "cam1_frames", |
| "cam2_frames", |
| "depth.h5 cam1", |
| "depth.h5 cam2", |
| "gello_joint_states", |
| "gripper", |
| "command" |
| ], |
| "late_streams": [ |
| "ur_joint_states", |
| "tcp_pose", |
| "wrench" |
| ], |
| "wrench_note": "`wrench` shares tcp_pose's QoS depth (50) and publisher, so it carries the same ~0.5 s lag. It is not cross-correlated here because the force signal's derivative is too noisy to time reliably; the sibling velocity-correlation analysis measured tcp_pose -> wrench at 0.000 s over 7 of 8 takes, which is the sharpest confirmation of the queue-depth model (equal depth -> equal lag), and tcp_pose -> ur_joint_states at +0.495 s (unequal depth).", |
| "per_take": [ |
| { |
| "take": "take_01_20260914_164811", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.0016, |
| "n_compared": 503, |
| "residual_rad_at_zero": 0.0581, |
| "residual_rad_at_zero_mean": 0.0527, |
| "xcorr_command_to_ur_joint_states_s": 0.915, |
| "xcorr_command_to_ur_joint_states_r": 0.824, |
| "xcorr_command_to_tcp_pose_s": 0.42, |
| "xcorr_command_to_tcp_pose_r": 0.746, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.46, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.75 |
| }, |
| { |
| "take": "take_02_20260914_164845", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0086, |
| "n_compared": 642, |
| "residual_rad_at_zero": 0.0417, |
| "residual_rad_at_zero_mean": 0.0511, |
| "xcorr_command_to_ur_joint_states_s": 0.875, |
| "xcorr_command_to_ur_joint_states_r": 0.606, |
| "xcorr_command_to_tcp_pose_s": 0.435, |
| "xcorr_command_to_tcp_pose_r": 0.708, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.4, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.643 |
| }, |
| { |
| "take": "take_03_20260914_164930", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0008, |
| "residual_rad_at_lag_mean": 0.0042, |
| "n_compared": 650, |
| "residual_rad_at_zero": 0.0745, |
| "residual_rad_at_zero_mean": 0.078, |
| "xcorr_command_to_ur_joint_states_s": 0.94, |
| "xcorr_command_to_ur_joint_states_r": 0.79, |
| "xcorr_command_to_tcp_pose_s": 0.42, |
| "xcorr_command_to_tcp_pose_r": 0.651, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.475, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.604 |
| }, |
| { |
| "take": "take_04_20260914_165011", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0078, |
| "n_compared": 592, |
| "residual_rad_at_zero": 0.0689, |
| "residual_rad_at_zero_mean": 0.0674, |
| "xcorr_command_to_ur_joint_states_s": 0.88, |
| "xcorr_command_to_ur_joint_states_r": 0.664, |
| "xcorr_command_to_tcp_pose_s": 0.41, |
| "xcorr_command_to_tcp_pose_r": 0.497, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.53, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.471 |
| }, |
| { |
| "take": "take_05_20260914_165156", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.0128, |
| "n_compared": 659, |
| "residual_rad_at_zero": 0.0471, |
| "residual_rad_at_zero_mean": 0.0522, |
| "xcorr_command_to_ur_joint_states_s": 0.91, |
| "xcorr_command_to_ur_joint_states_r": 0.692, |
| "xcorr_command_to_tcp_pose_s": 0.415, |
| "xcorr_command_to_tcp_pose_r": 0.66, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.435, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.583 |
| }, |
| { |
| "take": "take_06_20260914_165238", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0009, |
| "residual_rad_at_lag_mean": 0.0119, |
| "n_compared": 666, |
| "residual_rad_at_zero": 0.0649, |
| "residual_rad_at_zero_mean": 0.067, |
| "xcorr_command_to_ur_joint_states_s": 0.885, |
| "xcorr_command_to_ur_joint_states_r": 0.626, |
| "xcorr_command_to_tcp_pose_s": 0.375, |
| "xcorr_command_to_tcp_pose_r": 0.654, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.505, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.503 |
| }, |
| { |
| "take": "take_07_20260914_165316", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.0129, |
| "n_compared": 519, |
| "residual_rad_at_zero": 0.0398, |
| "residual_rad_at_zero_mean": 0.0447, |
| "xcorr_command_to_ur_joint_states_s": 0.905, |
| "xcorr_command_to_ur_joint_states_r": 0.526, |
| "xcorr_command_to_tcp_pose_s": 0.375, |
| "xcorr_command_to_tcp_pose_r": 0.675, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.2, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.638 |
| }, |
| { |
| "take": "take_08_20260914_165353", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0008, |
| "residual_rad_at_lag_mean": 0.0137, |
| "n_compared": 708, |
| "residual_rad_at_zero": 0.0814, |
| "residual_rad_at_zero_mean": 0.0782, |
| "xcorr_command_to_ur_joint_states_s": 0.9, |
| "xcorr_command_to_ur_joint_states_r": 0.62, |
| "xcorr_command_to_tcp_pose_s": 0.43, |
| "xcorr_command_to_tcp_pose_r": 0.473, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.493 |
| }, |
| { |
| "take": "take_09_20260914_165429", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0167, |
| "n_compared": 529, |
| "residual_rad_at_zero": 0.0386, |
| "residual_rad_at_zero_mean": 0.0525, |
| "xcorr_command_to_ur_joint_states_s": 0.925, |
| "xcorr_command_to_ur_joint_states_r": 0.624, |
| "xcorr_command_to_tcp_pose_s": 0.405, |
| "xcorr_command_to_tcp_pose_r": 0.584, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.48, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.595 |
| }, |
| { |
| "take": "take_10_20260914_165510", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0008, |
| "residual_rad_at_lag_mean": 0.0117, |
| "n_compared": 623, |
| "residual_rad_at_zero": 0.0586, |
| "residual_rad_at_zero_mean": 0.0638, |
| "xcorr_command_to_ur_joint_states_s": 0.89, |
| "xcorr_command_to_ur_joint_states_r": 0.476, |
| "xcorr_command_to_tcp_pose_s": 0.44, |
| "xcorr_command_to_tcp_pose_r": 0.632, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.504 |
| }, |
| { |
| "take": "take_11_20260914_165557", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.014, |
| "n_compared": 822, |
| "residual_rad_at_zero": 0.0429, |
| "residual_rad_at_zero_mean": 0.049, |
| "xcorr_command_to_ur_joint_states_s": 0.58, |
| "xcorr_command_to_ur_joint_states_r": 0.584, |
| "xcorr_command_to_tcp_pose_s": 0.47, |
| "xcorr_command_to_tcp_pose_r": 0.513, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.48, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.401 |
| }, |
| { |
| "take": "take_13_20260914_165647", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0131, |
| "n_compared": 563, |
| "residual_rad_at_zero": 0.0382, |
| "residual_rad_at_zero_mean": 0.0469, |
| "xcorr_command_to_ur_joint_states_s": 0.92, |
| "xcorr_command_to_ur_joint_states_r": 0.568, |
| "xcorr_command_to_tcp_pose_s": 0.4, |
| "xcorr_command_to_tcp_pose_r": 0.624, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.5, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.566 |
| }, |
| { |
| "take": "take_14_20260914_165719", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0109, |
| "n_compared": 763, |
| "residual_rad_at_zero": 0.0702, |
| "residual_rad_at_zero_mean": 0.0644, |
| "xcorr_command_to_ur_joint_states_s": 0.91, |
| "xcorr_command_to_ur_joint_states_r": 0.757, |
| "xcorr_command_to_tcp_pose_s": 0.41, |
| "xcorr_command_to_tcp_pose_r": 0.592, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.5, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.619 |
| }, |
| { |
| "take": "take_15_20260914_165753", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.0063, |
| "n_compared": 901, |
| "residual_rad_at_zero": 0.0437, |
| "residual_rad_at_zero_mean": 0.0505, |
| "xcorr_command_to_ur_joint_states_s": 0.905, |
| "xcorr_command_to_ur_joint_states_r": 0.662, |
| "xcorr_command_to_tcp_pose_s": 0.415, |
| "xcorr_command_to_tcp_pose_r": 0.724, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.5, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.673 |
| }, |
| { |
| "take": "take_16_20260914_165825", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0082, |
| "n_compared": 695, |
| "residual_rad_at_zero": 0.0441, |
| "residual_rad_at_zero_mean": 0.0533, |
| "xcorr_command_to_ur_joint_states_s": 0.9, |
| "xcorr_command_to_ur_joint_states_r": 0.659, |
| "xcorr_command_to_tcp_pose_s": 0.41, |
| "xcorr_command_to_tcp_pose_r": 0.677, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.5, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.716 |
| }, |
| { |
| "take": "take_17_20260914_165859", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0131, |
| "n_compared": 651, |
| "residual_rad_at_zero": 0.0562, |
| "residual_rad_at_zero_mean": 0.0585, |
| "xcorr_command_to_ur_joint_states_s": 0.9, |
| "xcorr_command_to_ur_joint_states_r": 0.542, |
| "xcorr_command_to_tcp_pose_s": 0.38, |
| "xcorr_command_to_tcp_pose_r": 0.588, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.4, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.555 |
| }, |
| { |
| "take": "take_18_20260914_165926", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0133, |
| "n_compared": 743, |
| "residual_rad_at_zero": 0.0521, |
| "residual_rad_at_zero_mean": 0.0608, |
| "xcorr_command_to_ur_joint_states_s": 0.88, |
| "xcorr_command_to_ur_joint_states_r": 0.715, |
| "xcorr_command_to_tcp_pose_s": 0.45, |
| "xcorr_command_to_tcp_pose_r": 0.672, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.465, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.57 |
| }, |
| { |
| "take": "take_19_20260914_170024", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0008, |
| "residual_rad_at_lag_mean": 0.0138, |
| "n_compared": 787, |
| "residual_rad_at_zero": 0.0514, |
| "residual_rad_at_zero_mean": 0.059, |
| "xcorr_command_to_ur_joint_states_s": 0.905, |
| "xcorr_command_to_ur_joint_states_r": 0.576, |
| "xcorr_command_to_tcp_pose_s": 0.44, |
| "xcorr_command_to_tcp_pose_r": 0.515, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.459 |
| }, |
| { |
| "take": "take_20_20260914_170107", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.895, |
| "residual_rad_at_lag": 0.0005, |
| "residual_rad_at_lag_mean": 0.0082, |
| "n_compared": 643, |
| "residual_rad_at_zero": 0.0405, |
| "residual_rad_at_zero_mean": 0.0492, |
| "xcorr_command_to_ur_joint_states_s": 0.885, |
| "xcorr_command_to_ur_joint_states_r": 0.684, |
| "xcorr_command_to_tcp_pose_s": 0.41, |
| "xcorr_command_to_tcp_pose_r": 0.698, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.48, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.677 |
| }, |
| { |
| "take": "take_21_20260914_170135", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.0094, |
| "n_compared": 605, |
| "residual_rad_at_zero": 0.0476, |
| "residual_rad_at_zero_mean": 0.052, |
| "xcorr_command_to_ur_joint_states_s": 0.87, |
| "xcorr_command_to_ur_joint_states_r": 0.669, |
| "xcorr_command_to_tcp_pose_s": 0.44, |
| "xcorr_command_to_tcp_pose_r": 0.671, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.556 |
| }, |
| { |
| "take": "take_22_20260914_170211", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0009, |
| "residual_rad_at_lag_mean": 0.0117, |
| "n_compared": 815, |
| "residual_rad_at_zero": 0.0582, |
| "residual_rad_at_zero_mean": 0.0639, |
| "xcorr_command_to_ur_joint_states_s": 0.91, |
| "xcorr_command_to_ur_joint_states_r": 0.799, |
| "xcorr_command_to_tcp_pose_s": 0.405, |
| "xcorr_command_to_tcp_pose_r": 0.7, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.5, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.654 |
| }, |
| { |
| "take": "take_23_20260914_170302", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0007, |
| "residual_rad_at_lag_mean": 0.0128, |
| "n_compared": 653, |
| "residual_rad_at_zero": 0.0759, |
| "residual_rad_at_zero_mean": 0.0742, |
| "xcorr_command_to_ur_joint_states_s": 0.905, |
| "xcorr_command_to_ur_joint_states_r": 0.615, |
| "xcorr_command_to_tcp_pose_s": 0.44, |
| "xcorr_command_to_tcp_pose_r": 0.658, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.43, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.578 |
| }, |
| { |
| "take": "take_24_20260914_170339", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.007, |
| "n_compared": 361, |
| "residual_rad_at_zero": 0.0578, |
| "residual_rad_at_zero_mean": 0.0615, |
| "xcorr_command_to_ur_joint_states_s": 0.92, |
| "xcorr_command_to_ur_joint_states_r": 0.824, |
| "xcorr_command_to_tcp_pose_s": 0.39, |
| "xcorr_command_to_tcp_pose_r": 0.809, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.53, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.738 |
| }, |
| { |
| "take": "take_25_20260914_170407", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.0058, |
| "n_compared": 379, |
| "residual_rad_at_zero": 0.0701, |
| "residual_rad_at_zero_mean": 0.0756, |
| "xcorr_command_to_ur_joint_states_s": 0.91, |
| "xcorr_command_to_ur_joint_states_r": 0.769, |
| "xcorr_command_to_tcp_pose_s": 0.46, |
| "xcorr_command_to_tcp_pose_r": 0.686, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.445, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.705 |
| }, |
| { |
| "take": "take_26_20260914_170447", |
| "ur_joint_states_lag_s": 0.9, |
| "ur_joint_states_lag_s_mean_objective": 0.9, |
| "residual_rad_at_lag": 0.0006, |
| "residual_rad_at_lag_mean": 0.0092, |
| "n_compared": 456, |
| "residual_rad_at_zero": 0.0519, |
| "residual_rad_at_zero_mean": 0.0532, |
| "xcorr_command_to_ur_joint_states_s": 0.89, |
| "xcorr_command_to_ur_joint_states_r": 0.684, |
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| "depth_sample_idx_cam2": 138, |
| "depth_shape_cam2": [ |
| 480, |
| 848 |
| ], |
| "depth_valid_pct_cam2": 63.72, |
| "depth_median_range_m_cam2": 0.279, |
| "depth_p05_range_m_cam2": 0.222, |
| "depth_p95_range_m_cam2": 0.327, |
| "depth_grasp_idx_cam2": 95, |
| "depth_grasp_t_s_cam2": 3.2, |
| "depth_valid_pct_at_grasp_cam2": 61.6, |
| "depth_median_range_m_at_grasp_cam2": 0.193, |
| "bytes_vectors_h5": 691648, |
| "bytes_depth_h5": 48603328, |
| "bytes_cam1_mp4": 2890011, |
| "cam1_video_frames": 276, |
| "cam1_h5_video_match": true, |
| "bytes_cam2_mp4": 3534468, |
| "cam2_video_frames": 277, |
| "cam2_h5_video_match": true, |
| "cam1_minus_cam2": -1 |
| } |
| ] |
| } |
|
|
