{ "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:= 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 }, "gello_joint_states/qd5": { "min": -1.14019, "max": 1.26355, "mean": -0.013427, "std": 0.12941, "n": 10797 }, "gello_joint_states/qd6": { "min": -2.22256, "max": 1.95635, "mean": 0.022707, "std": 0.32382, "n": 10797 }, "gello_joint_states/stamp_s": { "min": 1715.078286, "max": 2362.480274, "mean": 2038.9409, "std": 182.738614, "n": 10797 }, "gripper/gello_grip": { "min": 0.0, "max": 1.0, "mean": 0.404809, "std": 0.485247, "n": 22336 }, "gripper/grip_cmd": { "min": 0.0, "max": 0.9998, "mean": 0.404638, "std": 0.483855, "n": 22336 }, "gripper/grip_pos": { "min": 0.0, "max": 0.915, "mean": 0.336735, "std": 0.403122, "n": 22336 }, "tcp_pose/qw": { "min": -0.128336, "max": 0.16998, "mean": 0.002944, "std": 0.060752, "n": 44660 }, "tcp_pose/qx": { "min": 0.429579, "max": 0.939505, "mean": 0.76169, "std": 0.092486, "n": 44660 }, "tcp_pose/qy": { "min": 0.321867, "max": 0.901322, "mean": 0.624146, "std": 0.113708, "n": 44660 }, "tcp_pose/qz": { "min": -0.304154, "max": 0.095412, "mean": -0.044383, "std": 0.055843, "n": 44660 }, "tcp_pose/stamp_s": { "min": 1789398541.535359, "max": 1789399188.906648, "mean": 1789398865.706254, "std": 186.590461, "n": 44660 }, "tcp_pose/x": { "min": 0.294047, "max": 0.591358, "mean": 0.444499, "std": 0.046633, "n": 44660 }, "tcp_pose/y": { "min": -0.367044, "max": 0.268216, "mean": 0.026762, "std": 0.159222, "n": 44660 }, "tcp_pose/z": { "min": -0.034058, "max": 0.33001, "mean": 0.147635, "std": 0.097001, "n": 44660 }, "ur_joint_states/eff1": { "min": -64.0041, "max": 30.095, "mean": 0.029288, "std": 2.125725, "n": 44660 }, "ur_joint_states/eff2": { "min": -11.0136, "max": 107.1025, "mean": -4.414835, "std": 4.739427, "n": 44660 }, "ur_joint_states/eff3": { "min": -13.2352, "max": 31.3021, "mean": -4.514871, "std": 1.53546, "n": 44660 }, "ur_joint_states/eff4": { "min": -18.0977, "max": 10.5806, "mean": -0.980763, "std": 0.768163, "n": 44660 }, "ur_joint_states/eff5": { "min": -27.0023, "max": 28.0, "mean": -0.089558, "std": 1.123485, "n": 44660 }, "ur_joint_states/eff6": { "min": -4.6147, "max": 4.9129, "mean": 0.018452, "std": 0.200094, "n": 44660 }, "ur_joint_states/q1": { "min": -4.03902, "max": -2.862538, "mean": -3.333825, "std": 0.305452, "n": 44660 }, "ur_joint_states/q2": { "min": -2.036747, "max": -1.083273, "mean": -1.504098, "std": 0.174339, "n": 44660 }, "ur_joint_states/q3": { "min": 1.420861, "max": 2.611451, "mean": 1.93953, "std": 0.1899, "n": 44660 }, "ur_joint_states/q4": { "min": -2.882517, "max": -1.350166, "mean": -1.960377, "std": 0.312114, "n": 44660 }, "ur_joint_states/q5": { "min": -2.059182, "max": -1.370949, "mean": -1.639057, "std": 0.108735, "n": 44660 }, "ur_joint_states/q6": { "min": -4.038401, "max": -2.665617, "mean": -3.134808, "std": 0.233887, "n": 44660 }, "ur_joint_states/qd1": { "min": -0.452219, "max": 0.321731, "mean": -0.023249, "std": 0.125758, "n": 44660 }, "ur_joint_states/qd2": { "min": -0.410486, "max": 0.432156, "mean": -0.003544, "std": 0.126044, "n": 44660 }, "ur_joint_states/qd3": { "min": -0.494653, "max": 0.415757, "mean": 0.006271, "std": 0.119124, "n": 44660 }, "ur_joint_states/qd4": { "min": -0.559085, "max": 0.556863, "mean": -0.0065, "std": 0.221282, "n": 44660 }, "ur_joint_states/qd5": { "min": -0.394905, "max": 0.415192, "mean": 0.001685, "std": 0.089547, "n": 44660 }, "ur_joint_states/qd6": { "min": -0.561159, "max": 0.536575, "mean": -0.014574, "std": 0.122947, "n": 44660 }, "ur_joint_states/stamp_s": { "min": 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