| { |
| "dataset": "Bigenlight/carrot_in_pot_sim_raw", |
| "generated_utc": "2026-09-14T17:54:22+00:00", |
| "generated_by": "make_carrot_raw_stats.py \u2014 h5py + cv2 + ffprobe audit over all 22 take folders (vectors.h5, cam1.mp4, cam2.mp4 \u2014 depth-free mode, every depth section skipped). 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.", |
| "aggregate": { |
| "n_takes": 22, |
| "total_duration_s": 359.13, |
| "total_cam1_frames": 9173, |
| "total_cam2_frames": 9173, |
| "total_bytes": 658839801, |
| "total_bytes_cam1_mp4": 266368224, |
| "total_bytes_cam2_mp4": 293049465, |
| "total_bytes_vectors_h5": 99422112, |
| "duration_median_s": 15.69, |
| "duration_min_s": 11.29, |
| "duration_max_s": 27.82, |
| "duration_min_take": "take_23_20260915_001937", |
| "duration_max_take": "take_09_20260915_001242", |
| "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_20260915_000901": -2, |
| "take_02_20260915_000933": 1, |
| "take_04_20260915_001042": -4, |
| "take_05_20260915_001112": 2, |
| "take_07_20260915_001145": 1, |
| "take_08_20260915_001209": 1, |
| "take_09_20260915_001242": -1, |
| "take_10_20260915_001322": 2, |
| "take_11_20260915_001346": -4, |
| "take_12_20260915_001405": -3, |
| "take_13_20260915_001438": -4, |
| "take_14_20260915_001502": 5, |
| "take_15_20260915_001534": 5, |
| "take_16_20260915_001558": 3, |
| "take_17_20260915_001620": -9, |
| "take_18_20260915_001658": -1, |
| "take_19_20260915_001725": 4, |
| "take_20_20260915_001805": -1, |
| "take_22_20260915_001910": 1, |
| "take_23_20260915_001937": 4 |
| }, |
| "columns_attr_python_types": [ |
| "str" |
| ], |
| "identical_group_set_across_takes": true, |
| "groups": [ |
| "cam1_frames", |
| "cam2_frames", |
| "command", |
| "gello_joint_states", |
| "gripper", |
| "sim_control", |
| "sim_frame_capture", |
| "sim_leader_filtered", |
| "sim_mj_state", |
| "sim_object_poses", |
| "sim_scene", |
| "synchronized", |
| "tcp_pose", |
| "ur_joint_states", |
| "wrench" |
| ], |
| "takes_with_multiple_grip_closures": [ |
| "take_04_20260915_001042", |
| "take_08_20260915_001209", |
| "take_09_20260915_001242", |
| "take_14_20260915_001502", |
| "take_17_20260915_001620", |
| "take_20_20260915_001805", |
| "take_21_20260915_001833" |
| ], |
| "has_depth": false, |
| "takes_with_no_grip_closure": [] |
| }, |
| "rates": { |
| "cam1_frames": { |
| "mean_rate_hz_median_over_takes": 25.53, |
| "mean_rate_hz_min": 23.71, |
| "mean_rate_hz_max": 27.31, |
| "median_dt_ms": 37.3, |
| "p05_dt_ms": 25.4, |
| "p95_dt_ms": 59.9, |
| "max_dt_ms": 117.4, |
| "rate_from_median_dt_hz": 26.81 |
| }, |
| "cam2_frames": { |
| "mean_rate_hz_median_over_takes": 25.47, |
| "mean_rate_hz_min": 23.42, |
| "mean_rate_hz_max": 27.27, |
| "median_dt_ms": 37.3, |
| "p05_dt_ms": 25.5, |
| "p95_dt_ms": 59.75, |
| "max_dt_ms": 112.9, |
| "rate_from_median_dt_hz": 26.81 |
| }, |
| "command": { |
| "mean_rate_hz_median_over_takes": 125.5, |
| "mean_rate_hz_min": 120.3, |
| "mean_rate_hz_max": 125.86, |
| "median_dt_ms": 7.8, |
| "p05_dt_ms": 0.8, |
| "p95_dt_ms": 13.4, |
| "max_dt_ms": 79.3, |
| "rate_from_median_dt_hz": 128.21 |
| }, |
| "ur_joint_states": { |
| "mean_rate_hz_median_over_takes": 125.5, |
| "mean_rate_hz_min": 120.3, |
| "mean_rate_hz_max": 125.86, |
| "median_dt_ms": 7.8, |
| "p05_dt_ms": 0.8, |
| "p95_dt_ms": 13.4, |
| "max_dt_ms": 79.4, |
| "rate_from_median_dt_hz": 128.21 |
| }, |
| "tcp_pose": { |
| "mean_rate_hz_median_over_takes": 125.5, |
| "mean_rate_hz_min": 120.3, |
| "mean_rate_hz_max": 125.86, |
| "median_dt_ms": 7.8, |
| "p05_dt_ms": 0.8, |
| "p95_dt_ms": 13.4, |
| "max_dt_ms": 79.3, |
| "rate_from_median_dt_hz": 128.21 |
| }, |
| "wrench": { |
| "mean_rate_hz_median_over_takes": 125.5, |
| "mean_rate_hz_min": 120.3, |
| "mean_rate_hz_max": 125.86, |
| "median_dt_ms": 7.8, |
| "p05_dt_ms": 0.8, |
| "p95_dt_ms": 13.4, |
| "max_dt_ms": 79.3, |
| "rate_from_median_dt_hz": 128.21 |
| }, |
| "gripper": { |
| "mean_rate_hz_median_over_takes": 62.79, |
| "mean_rate_hz_min": 60.19, |
| "mean_rate_hz_max": 63.02, |
| "median_dt_ms": 15.9, |
| "p05_dt_ms": 5.16, |
| "p95_dt_ms": 24.0, |
| "max_dt_ms": 96.1, |
| "rate_from_median_dt_hz": 62.89 |
| }, |
| "gello_joint_states": { |
| "mean_rate_hz_median_over_takes": 30.18, |
| "mean_rate_hz_min": 30.13, |
| "mean_rate_hz_max": 30.29, |
| "median_dt_ms": 32.9, |
| "p05_dt_ms": 22.9, |
| "p95_dt_ms": 41.2, |
| "max_dt_ms": 104.9, |
| "rate_from_median_dt_hz": 30.4 |
| } |
| }, |
| "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": 2.7738, |
| "mean": 2.9354, |
| "p05": 2.075, |
| "p95": 3.9047, |
| "min": 1.873, |
| "max": 4.1916, |
| "take_median_min": 2.0968, |
| "take_median_max": 3.5407, |
| "take_median_std": 0.3434, |
| "corr_gello_vs_ur_mean_over_takes": -0.952, |
| "corr_gello_vs_cmd_mean_over_takes": -0.968, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.599, |
| "n": 10797 |
| }, |
| "gello_q2_minus_ur_q2_rad": { |
| "median": 0.0992, |
| "mean": 0.1181, |
| "p05": -0.2013, |
| "p95": 0.4926, |
| "min": -0.4028, |
| "max": 0.8921, |
| "take_median_min": -0.1825, |
| "take_median_max": 0.356, |
| "take_median_std": 0.1239, |
| "corr_gello_vs_ur_mean_over_takes": 0.449, |
| "corr_gello_vs_cmd_mean_over_takes": 0.494, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.244, |
| "n": 10797 |
| }, |
| "gello_q3_minus_ur_q3_rad": { |
| "median": -0.2002, |
| "mean": -0.2034, |
| "p05": -0.6686, |
| "p95": 0.1888, |
| "min": -0.9823, |
| "max": 0.4684, |
| "take_median_min": -0.5047, |
| "take_median_max": 0.0844, |
| "take_median_std": 0.1475, |
| "corr_gello_vs_ur_mean_over_takes": 0.32, |
| "corr_gello_vs_cmd_mean_over_takes": 0.321, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.189, |
| "n": 10797 |
| }, |
| "gello_q4_minus_ur_q4_rad": { |
| "median": -0.3487, |
| "mean": -0.3199, |
| "p05": -0.8675, |
| "p95": 0.3349, |
| "min": -1.159, |
| "max": 0.5568, |
| "take_median_min": -0.9606, |
| "take_median_max": 0.2881, |
| "take_median_std": 0.3135, |
| "corr_gello_vs_ur_mean_over_takes": 0.657, |
| "corr_gello_vs_cmd_mean_over_takes": 0.676, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.447, |
| "n": 10797 |
| }, |
| "gello_q5_minus_ur_q5_rad": { |
| "median": 0.1627, |
| "mean": 0.15, |
| "p05": -0.1193, |
| "p95": 0.4485, |
| "min": -0.4506, |
| "max": 0.8012, |
| "take_median_min": -0.0383, |
| "take_median_max": 0.2895, |
| "take_median_std": 0.0826, |
| "corr_gello_vs_ur_mean_over_takes": 0.413, |
| "corr_gello_vs_cmd_mean_over_takes": 0.349, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.082, |
| "n": 10797 |
| }, |
| "gello_q6_minus_ur_q6_rad": { |
| "median": 2.6964, |
| "mean": 2.814, |
| "p05": 1.9797, |
| "p95": 3.8109, |
| "min": 1.7952, |
| "max": 4.069, |
| "take_median_min": 2.0672, |
| "take_median_max": 3.4324, |
| "take_median_std": 0.338, |
| "corr_gello_vs_ur_mean_over_takes": -0.251, |
| "corr_gello_vs_cmd_mean_over_takes": -0.279, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.15, |
| "n": 10797 |
| } |
| } |
| }, |
| "command_tracking": { |
| "note": "|command cmd_i - ur_joint_states q_i| after nearest-timestamp alignment of the follower onto the command clock. This is the servo following error, pooled over all takes.", |
| "per_joint": { |
| "j1": { |
| "median_of_take_medians_rad": 0.0088, |
| "mean_rad": 0.017297, |
| "max_rad": 0.091094 |
| }, |
| "j2": { |
| "median_of_take_medians_rad": 0.0162, |
| "mean_rad": 0.019599, |
| "max_rad": 0.085341 |
| }, |
| "j3": { |
| "median_of_take_medians_rad": 0.0129, |
| "mean_rad": 0.017719, |
| "max_rad": 0.102161 |
| }, |
| "j4": { |
| "median_of_take_medians_rad": 0.0297, |
| "mean_rad": 0.035404, |
| "max_rad": 0.114781 |
| }, |
| "j5": { |
| "median_of_take_medians_rad": 0.0088, |
| "mean_rad": 0.013115, |
| "max_rad": 0.082802 |
| }, |
| "j6": { |
| "median_of_take_medians_rad": 0.0105, |
| "mean_rad": 0.016258, |
| "max_rad": 0.113077 |
| } |
| } |
| }, |
| "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 ~60-69 Hz, 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 three different publish rates, 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, gripper, and `command`. 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 ~0.45 s from tcp_pose/t_rel_s and wrench/t_rel_s; 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) - 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 single constant 0.900 s. 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": 0.19, |
| "median": 0.198, |
| "max": 0.205, |
| "n_takes": 22 |
| }, |
| "ur_joint_states_lag_s_mean_objective": { |
| "min": 0.19, |
| "median": 0.195, |
| "max": 0.205, |
| "n_takes": 22 |
| }, |
| "takes_at_modal_lag": 0, |
| "modal_lag_s": 0.198, |
| "residual_rad_at_lag": { |
| "min": 0.0028, |
| "median": 0.0037, |
| "max": 0.0057, |
| "n_takes": 22 |
| }, |
| "residual_rad_at_lag_mean": { |
| "min": 0.0034, |
| "median": 0.0043, |
| "max": 0.0064, |
| "n_takes": 22 |
| }, |
| "residual_rad_at_zero": { |
| "min": 0.0116, |
| "median": 0.0187, |
| "max": 0.0283, |
| "n_takes": 22 |
| }, |
| "residual_rad_at_zero_mean": { |
| "min": 0.0141, |
| "median": 0.0202, |
| "max": 0.026, |
| "n_takes": 22 |
| }, |
| "xcorr_command_to_ur_joint_states_s": { |
| "min": 0.0, |
| "median": 0.0, |
| "max": 0.0, |
| "n_takes": 22 |
| }, |
| "xcorr_command_to_tcp_pose_s": { |
| "min": 0.0, |
| "median": 0.0, |
| "max": 0.0, |
| "n_takes": 22 |
| }, |
| "xcorr_tcp_pose_to_ur_joint_states_s": { |
| "min": 0.0, |
| "median": 0.0, |
| "max": 0.0, |
| "n_takes": 22 |
| }, |
| "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_20260915_000901", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.19, |
| "residual_rad_at_lag": 0.0033, |
| "residual_rad_at_lag_mean": 0.0039, |
| "n_compared": 1941, |
| "residual_rad_at_zero": 0.0116, |
| "residual_rad_at_zero_mean": 0.0141, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.853, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.795, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.951 |
| }, |
| { |
| "take": "take_02_20260915_000933", |
| "ur_joint_states_lag_s": 0.205, |
| "ur_joint_states_lag_s_mean_objective": 0.2, |
| "residual_rad_at_lag": 0.003, |
| "residual_rad_at_lag_mean": 0.0038, |
| "n_compared": 1907, |
| "residual_rad_at_zero": 0.0164, |
| "residual_rad_at_zero_mean": 0.0193, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.94, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.872, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.914 |
| }, |
| { |
| "take": "take_03_20260915_001003", |
| "ur_joint_states_lag_s": 0.205, |
| "ur_joint_states_lag_s_mean_objective": 0.2, |
| "residual_rad_at_lag": 0.0033, |
| "residual_rad_at_lag_mean": 0.0039, |
| "n_compared": 1927, |
| "residual_rad_at_zero": 0.013, |
| "residual_rad_at_zero_mean": 0.0161, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.873, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.832, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.968 |
| }, |
| { |
| "take": "take_04_20260915_001042", |
| "ur_joint_states_lag_s": 0.2, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0038, |
| "residual_rad_at_lag_mean": 0.0047, |
| "n_compared": 2096, |
| "residual_rad_at_zero": 0.0167, |
| "residual_rad_at_zero_mean": 0.0183, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.847, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.777, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.952 |
| }, |
| { |
| "take": "take_05_20260915_001112", |
| "ur_joint_states_lag_s": 0.2, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0036, |
| "residual_rad_at_lag_mean": 0.0042, |
| "n_compared": 1430, |
| "residual_rad_at_zero": 0.0224, |
| "residual_rad_at_zero_mean": 0.0208, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.867, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.792, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.944 |
| }, |
| { |
| "take": "take_07_20260915_001145", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.19, |
| "residual_rad_at_lag": 0.0044, |
| "residual_rad_at_lag_mean": 0.0049, |
| "n_compared": 1556, |
| "residual_rad_at_zero": 0.0185, |
| "residual_rad_at_zero_mean": 0.0202, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.861, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.763, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.872 |
| }, |
| { |
| "take": "take_08_20260915_001209", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0034, |
| "residual_rad_at_lag_mean": 0.0041, |
| "n_compared": 2977, |
| "residual_rad_at_zero": 0.016, |
| "residual_rad_at_zero_mean": 0.0167, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.905, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.779, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.882 |
| }, |
| { |
| "take": "take_09_20260915_001242", |
| "ur_joint_states_lag_s": 0.19, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0044, |
| "residual_rad_at_lag_mean": 0.0053, |
| "n_compared": 3423, |
| "residual_rad_at_zero": 0.024, |
| "residual_rad_at_zero_mean": 0.0237, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.904, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.807, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.898 |
| }, |
| { |
| "take": "take_10_20260915_001322", |
| "ur_joint_states_lag_s": 0.205, |
| "ur_joint_states_lag_s_mean_objective": 0.205, |
| "residual_rad_at_lag": 0.0053, |
| "residual_rad_at_lag_mean": 0.0056, |
| "n_compared": 1446, |
| "residual_rad_at_zero": 0.0262, |
| "residual_rad_at_zero_mean": 0.026, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.887, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.816, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.913 |
| }, |
| { |
| "take": "take_11_20260915_001346", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0041, |
| "residual_rad_at_lag_mean": 0.0045, |
| "n_compared": 1485, |
| "residual_rad_at_zero": 0.0256, |
| "residual_rad_at_zero_mean": 0.0232, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.905, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.829, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.95 |
| }, |
| { |
| "take": "take_12_20260915_001405", |
| "ur_joint_states_lag_s": 0.205, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0028, |
| "residual_rad_at_lag_mean": 0.0034, |
| "n_compared": 2536, |
| "residual_rad_at_zero": 0.0147, |
| "residual_rad_at_zero_mean": 0.0153, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.889, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.807, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.928 |
| }, |
| { |
| "take": "take_13_20260915_001438", |
| "ur_joint_states_lag_s": 0.2, |
| "ur_joint_states_lag_s_mean_objective": 0.19, |
| "residual_rad_at_lag": 0.0057, |
| "residual_rad_at_lag_mean": 0.0064, |
| "n_compared": 1602, |
| "residual_rad_at_zero": 0.0249, |
| "residual_rad_at_zero_mean": 0.0254, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.844, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.704, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.852 |
| }, |
| { |
| "take": "take_14_20260915_001502", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.19, |
| "residual_rad_at_lag": 0.0035, |
| "residual_rad_at_lag_mean": 0.0041, |
| "n_compared": 2617, |
| "residual_rad_at_zero": 0.0159, |
| "residual_rad_at_zero_mean": 0.0174, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.855, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.761, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.917 |
| }, |
| { |
| "take": "take_15_20260915_001534", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0036, |
| "residual_rad_at_lag_mean": 0.0042, |
| "n_compared": 1579, |
| "residual_rad_at_zero": 0.0189, |
| "residual_rad_at_zero_mean": 0.0202, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.884, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.832, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.965 |
| }, |
| { |
| "take": "take_16_20260915_001558", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0035, |
| "residual_rad_at_lag_mean": 0.0043, |
| "n_compared": 1725, |
| "residual_rad_at_zero": 0.017, |
| "residual_rad_at_zero_mean": 0.0185, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.829, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.624, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.831 |
| }, |
| { |
| "take": "take_17_20260915_001620", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0043, |
| "residual_rad_at_lag_mean": 0.0049, |
| "n_compared": 2805, |
| "residual_rad_at_zero": 0.0223, |
| "residual_rad_at_zero_mean": 0.0218, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.856, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.795, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.935 |
| }, |
| { |
| "take": "take_18_20260915_001658", |
| "ur_joint_states_lag_s": 0.2, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0046, |
| "residual_rad_at_lag_mean": 0.0051, |
| "n_compared": 1354, |
| "residual_rad_at_zero": 0.0268, |
| "residual_rad_at_zero_mean": 0.0249, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.909, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.818, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.922 |
| }, |
| { |
| "take": "take_19_20260915_001725", |
| "ur_joint_states_lag_s": 0.2, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0032, |
| "residual_rad_at_lag_mean": 0.0039, |
| "n_compared": 2021, |
| "residual_rad_at_zero": 0.0149, |
| "residual_rad_at_zero_mean": 0.0173, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.866, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.783, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.904 |
| }, |
| { |
| "take": "take_20_20260915_001805", |
| "ur_joint_states_lag_s": 0.195, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0039, |
| "residual_rad_at_lag_mean": 0.0048, |
| "n_compared": 2430, |
| "residual_rad_at_zero": 0.0198, |
| "residual_rad_at_zero_mean": 0.0221, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.881, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.829, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.954 |
| }, |
| { |
| "take": "take_21_20260915_001833", |
| "ur_joint_states_lag_s": 0.19, |
| "ur_joint_states_lag_s_mean_objective": 0.19, |
| "residual_rad_at_lag": 0.0036, |
| "residual_rad_at_lag_mean": 0.004, |
| "n_compared": 2393, |
| "residual_rad_at_zero": 0.0155, |
| "residual_rad_at_zero_mean": 0.0177, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.888, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.786, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.924 |
| }, |
| { |
| "take": "take_22_20260915_001910", |
| "ur_joint_states_lag_s": 0.2, |
| "ur_joint_states_lag_s_mean_objective": 0.195, |
| "residual_rad_at_lag": 0.0045, |
| "residual_rad_at_lag_mean": 0.0053, |
| "n_compared": 1458, |
| "residual_rad_at_zero": 0.0283, |
| "residual_rad_at_zero_mean": 0.0245, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.885, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.805, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.951 |
| }, |
| { |
| "take": "take_23_20260915_001937", |
| "ur_joint_states_lag_s": 0.2, |
| "ur_joint_states_lag_s_mean_objective": 0.2, |
| "residual_rad_at_lag": 0.0037, |
| "residual_rad_at_lag_mean": 0.0043, |
| "n_compared": 1386, |
| "residual_rad_at_zero": 0.0217, |
| "residual_rad_at_zero_mean": 0.0208, |
| "xcorr_command_to_ur_joint_states_s": 0.0, |
| "xcorr_command_to_ur_joint_states_r": 0.901, |
| "xcorr_command_to_tcp_pose_s": 0.0, |
| "xcorr_command_to_tcp_pose_r": 0.825, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.946 |
| } |
| ], |
| "simulated_takes": [ |
| "take_01_20260915_000901", |
| "take_02_20260915_000933", |
| "take_03_20260915_001003", |
| "take_04_20260915_001042", |
| "take_05_20260915_001112", |
| "take_07_20260915_001145", |
| "take_08_20260915_001209", |
| "take_09_20260915_001242", |
| "take_10_20260915_001322", |
| "take_11_20260915_001346", |
| "take_12_20260915_001405", |
| "take_13_20260915_001438", |
| "take_14_20260915_001502", |
| "take_15_20260915_001534", |
| "take_16_20260915_001558", |
| "take_17_20260915_001620", |
| "take_18_20260915_001658", |
| "take_19_20260915_001725", |
| "take_20_20260915_001805", |
| "take_21_20260915_001833", |
| "take_22_20260915_001910", |
| "take_23_20260915_001937" |
| ], |
| "applies_to_this_release": false, |
| "simulation_note": "SIMULATED take family (vectors.h5 carries sim_meta.simulated = true): the `note`/`method` prose above is inherited from the real-robot release and its MECHANISM does not apply here. The sim recorder stamps every robot row with the physics tick that produced it, and `command` / `ur_joint_states` / `tcp_pose` / `wrench` all come from that same tick, so no table is stamped late and NOTHING should be shifted. The non-zero ur_joint_states_lag_s reported above is the simulated arm's mechanical tracking lag behind its commanded joint target - real robot behaviour that is present in the data, not a clock error." |
| }, |
| "regrasp_takes": [ |
| { |
| "take": "take_04_20260915_001042", |
| "closures": [ |
| { |
| "t_close_s": 4.95, |
| "t_open_s": 6.55, |
| "grip_pos_peak": 0.9124 |
| }, |
| { |
| "t_close_s": 8.85, |
| "t_open_s": 14.29, |
| "grip_pos_peak": 0.914 |
| } |
| ] |
| }, |
| { |
| "take": "take_08_20260915_001209", |
| "closures": [ |
| { |
| "t_close_s": 9.17, |
| "t_open_s": 11.0, |
| "grip_pos_peak": 0.9121 |
| }, |
| { |
| "t_close_s": 14.68, |
| "t_open_s": 19.81, |
| "grip_pos_peak": 0.5672 |
| } |
| ] |
| }, |
| { |
| "take": "take_09_20260915_001242", |
| "closures": [ |
| { |
| "t_close_s": 9.09, |
| "t_open_s": 13.51, |
| "grip_pos_peak": 0.9131 |
| }, |
| { |
| "t_close_s": 21.28, |
| "t_open_s": 25.28, |
| "grip_pos_peak": 0.8688 |
| } |
| ] |
| }, |
| { |
| "take": "take_14_20260915_001502", |
| "closures": [ |
| { |
| "t_close_s": 6.86, |
| "t_open_s": 8.5, |
| "grip_pos_peak": 0.9117 |
| }, |
| { |
| "t_close_s": 12.53, |
| "t_open_s": 18.45, |
| "grip_pos_peak": 0.5814 |
| } |
| ] |
| }, |
| { |
| "take": "take_17_20260915_001620", |
| "closures": [ |
| { |
| "t_close_s": 4.86, |
| "t_open_s": 8.16, |
| "grip_pos_peak": 0.9125 |
| }, |
| { |
| "t_close_s": 14.63, |
| "t_open_s": 20.01, |
| "grip_pos_peak": 0.9135 |
| } |
| ] |
| }, |
| { |
| "take": "take_20_20260915_001805", |
| "closures": [ |
| { |
| "t_close_s": 4.75, |
| "t_open_s": 5.95, |
| "grip_pos_peak": 0.8871 |
| }, |
| { |
| "t_close_s": 10.69, |
| "t_open_s": 17.52, |
| "grip_pos_peak": 0.913 |
| } |
| ] |
| }, |
| { |
| "take": "take_21_20260915_001833", |
| "closures": [ |
| { |
| "t_close_s": 4.4, |
| "t_open_s": 7.29, |
| "grip_pos_peak": 0.9114 |
| }, |
| { |
| "t_close_s": 10.8, |
| "t_open_s": 17.06, |
| "grip_pos_peak": 0.9132 |
| } |
| ] |
| } |
| ], |
| "value_ranges": { |
| "cam1_frames/frame_idx": { |
| "min": 0.0, |
| "max": 698.0, |
| "mean": 224.599477, |
| "std": 148.564859, |
| "n": 9173 |
| }, |
| "cam2_frames/frame_idx": { |
| "min": 0.0, |
| "max": 699.0, |
| "mean": 224.869072, |
| "std": 148.961141, |
| "n": 9173 |
| }, |
| "command/cmd1": { |
| "min": -4.053777, |
| "max": -2.853534, |
| "mean": -3.338519, |
| "std": 0.308484, |
| "n": 44660 |
| }, |
| "command/cmd2": { |
| "min": -2.050403, |
| "max": -1.059579, |
| "mean": -1.507025, |
| "std": 0.176879, |
| "n": 44660 |
| }, |
| "command/cmd3": { |
| "min": 1.415654, |
| "max": 2.613911, |
| "mean": 1.938544, |
| "std": 0.190271, |
| "n": 44660 |
| }, |
| "command/cmd4": { |
| "min": -2.926207, |
| "max": -1.339229, |
| "mean": -1.963659, |
| "std": 0.314194, |
| "n": 44660 |
| }, |
| "command/cmd5": { |
| "min": -2.077148, |
| "max": -1.368083, |
| "mean": -1.638884, |
| "std": 0.111125, |
| "n": 44660 |
| }, |
| "command/cmd6": { |
| "min": -4.043497, |
| "max": -2.656087, |
| "mean": -3.13773, |
| "std": 0.23754, |
| "n": 44660 |
| }, |
| "gello_joint_states/q1": { |
| "min": -1.032369, |
| "max": 0.277651, |
| "mean": -0.398371, |
| "std": 0.334115, |
| "n": 10797 |
| }, |
| "gello_joint_states/q2": { |
| "min": -1.926945, |
| "max": -0.810146, |
| "mean": -1.386462, |
| "std": 0.190157, |
| "n": 10797 |
| }, |
| "gello_joint_states/q3": { |
| "min": 1.064209, |
| "max": 2.191654, |
| "mean": 1.73665, |
| "std": 0.200796, |
| "n": 10797 |
| }, |
| "gello_joint_states/q4": { |
| "min": -3.08598, |
| "max": -1.639436, |
| "mean": -2.280494, |
| "std": 0.314859, |
| "n": 10797 |
| }, |
| "gello_joint_states/q5": { |
| "min": -1.924757, |
| "max": -0.85864, |
| "mean": -1.489161, |
| "std": 0.177325, |
| "n": 10797 |
| }, |
| "gello_joint_states/q6": { |
| "min": -1.761417, |
| "max": 0.910777, |
| "mean": -0.320955, |
| "std": 0.572973, |
| "n": 10797 |
| }, |
| "gello_joint_states/qd1": { |
| "min": -1.10267, |
| "max": 1.0749, |
| "mean": 0.020318, |
| "std": 0.174565, |
| "n": 10797 |
| }, |
| "gello_joint_states/qd2": { |
| "min": -1.1159, |
| "max": 0.82948, |
| "mean": 0.003454, |
| "std": 0.165499, |
| "n": 10797 |
| }, |
| "gello_joint_states/qd3": { |
| "min": -0.87124, |
| "max": 0.9026, |
| "mean": -0.003314, |
| "std": 0.148982, |
| "n": 10797 |
| }, |
| "gello_joint_states/qd4": { |
| "min": -0.85368, |
| "max": 1.46649, |
| "mean": 0.004331, |
| "std": 0.226463, |
| "n": 10797 |
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|
|
