| { |
| "dataset": "Bigenlight/cube_stack_raw", |
| "task": "stack the red cube on the blue cube", |
| "generated_utc": "2026-09-19T13:17:24+00:00", |
| "generated_by": "make_raw_stats.py \u2014 h5py + cv2 + ffprobe audit over all 60 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 `cv2 CAP_PROP_FRAME_COUNT`. Value ranges pooled over all takes.", |
| "aggregate": { |
| "n_takes": 60, |
| "total_duration_s": 673.13, |
| "total_cam1_frames": 20177, |
| "total_cam2_frames": 20175, |
| "total_bytes": 454240405, |
| "total_bytes_cam1_mp4": 148248514, |
| "total_bytes_cam2_mp4": 162408787, |
| "total_bytes_vectors_h5": 143583104, |
| "duration_median_s": 9.94, |
| "duration_min_s": 7.49, |
| "duration_max_s": 21.32, |
| "duration_min_take": "take_41_20260919_214829", |
| "duration_max_take": "take_08_20260919_213417_recover_many", |
| "nan_or_inf_hits": [], |
| "absolute_path_hits": [], |
| "stray_files": [], |
| "video_frame_count_method": "cv2 CAP_PROP_FRAME_COUNT", |
| "all_video_frame_counts_match_h5": true, |
| "video_formats": [], |
| "takes_with_cam1_cam2_diff": { |
| "take_01_20260919_212809": -1, |
| "take_01_20260919_213136": 1, |
| "take_05_20260919_213309": -1, |
| "take_08_20260919_213417_recover_many": 1, |
| "take_10_20260919_213536": -1, |
| "take_12_20260919_213621": -1, |
| "take_15_20260919_213719": -1, |
| "take_16_20260919_213742": 1, |
| "take_17_20260919_213803_recover": 1, |
| "take_18_20260919_213830_recover": -1, |
| "take_19_20260919_213856": 1, |
| "take_25_20260919_214126": -1, |
| "take_28_20260919_214228_recover_many": -1, |
| "take_29_20260919_214304_recover": 1, |
| "take_33_20260919_214505": 1, |
| "take_35_20260919_214552": -1, |
| "take_47_20260919_215058": 1, |
| "take_50_20260919_215206_recover_many": 1, |
| "take_52_20260919_215303": 1, |
| "take_55_20260919_215359": 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_06_20260919_213329_recover", |
| "take_07_20260919_213354", |
| "take_08_20260919_213417_recover_many", |
| "take_09_20260919_213502_recover", |
| "take_17_20260919_213803_recover", |
| "take_18_20260919_213830_recover", |
| "take_28_20260919_214228_recover_many", |
| "take_29_20260919_214304_recover", |
| "take_42_20260919_214846_recover", |
| "take_43_20260919_214914_recover", |
| "take_45_20260919_215006_recover", |
| "take_50_20260919_215206_recover_many", |
| "take_57_20260919_215436_recover" |
| ], |
| "has_depth": false, |
| "takes_with_no_grip_closure": [] |
| }, |
| "rates": { |
| "cam1_frames": { |
| "mean_rate_hz_median_over_takes": 29.98, |
| "mean_rate_hz_min": 29.97, |
| "mean_rate_hz_max": 30.02, |
| "median_dt_ms": 33.6, |
| "p05_dt_ms": 31.4, |
| "p95_dt_ms": 35.3, |
| "max_dt_ms": 63.7, |
| "rate_from_median_dt_hz": 29.76 |
| }, |
| "cam2_frames": { |
| "mean_rate_hz_median_over_takes": 29.99, |
| "mean_rate_hz_min": 29.91, |
| "mean_rate_hz_max": 30.02, |
| "median_dt_ms": 33.6, |
| "p05_dt_ms": 31.07, |
| "p95_dt_ms": 35.6, |
| "max_dt_ms": 65.6, |
| "rate_from_median_dt_hz": 29.76 |
| }, |
| "command": { |
| "mean_rate_hz_median_over_takes": 250.18, |
| "mean_rate_hz_min": 249.0, |
| "mean_rate_hz_max": 250.43, |
| "median_dt_ms": 4.0, |
| "p05_dt_ms": 2.8, |
| "p95_dt_ms": 5.2, |
| "max_dt_ms": 29.5, |
| "rate_from_median_dt_hz": 250.0 |
| }, |
| "ur_joint_states": { |
| "mean_rate_hz_median_over_takes": 500.1, |
| "mean_rate_hz_min": 486.21, |
| "mean_rate_hz_max": 500.5, |
| "median_dt_ms": 2.0, |
| "p05_dt_ms": 1.2, |
| "p95_dt_ms": 2.8, |
| "max_dt_ms": 28.3, |
| "rate_from_median_dt_hz": 500.0 |
| }, |
| "tcp_pose": { |
| "mean_rate_hz_median_over_takes": 500.05, |
| "mean_rate_hz_min": 485.4, |
| "mean_rate_hz_max": 500.47, |
| "median_dt_ms": 2.0, |
| "p05_dt_ms": 0.7, |
| "p95_dt_ms": 3.5, |
| "max_dt_ms": 26.4, |
| "rate_from_median_dt_hz": 500.0 |
| }, |
| "wrench": { |
| "mean_rate_hz_median_over_takes": 500.03, |
| "mean_rate_hz_min": 485.86, |
| "mean_rate_hz_max": 500.5, |
| "median_dt_ms": 2.0, |
| "p05_dt_ms": 1.1, |
| "p95_dt_ms": 3.1, |
| "max_dt_ms": 23.6, |
| "rate_from_median_dt_hz": 500.0 |
| }, |
| "gripper": { |
| "mean_rate_hz_median_over_takes": 39.15, |
| "mean_rate_hz_min": 37.48, |
| "mean_rate_hz_max": 42.65, |
| "median_dt_ms": 32.4, |
| "p05_dt_ms": 10.8, |
| "p95_dt_ms": 34.2, |
| "max_dt_ms": 51.7, |
| "rate_from_median_dt_hz": 30.86 |
| }, |
| "gello_joint_states": { |
| "mean_rate_hz_median_over_takes": 30.0, |
| "mean_rate_hz_min": 30.0, |
| "mean_rate_hz_max": 30.05, |
| "median_dt_ms": 33.3, |
| "p05_dt_ms": 32.1, |
| "p95_dt_ms": 34.4, |
| "max_dt_ms": 50.9, |
| "rate_from_median_dt_hz": 30.03 |
| } |
| }, |
| "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": -3.5065, |
| "mean": -3.4452, |
| "p05": -4.139, |
| "p95": -2.6294, |
| "min": -4.3078, |
| "max": -2.3736, |
| "take_median_min": -4.0852, |
| "take_median_max": -2.504, |
| "take_median_std": 0.3181, |
| "corr_gello_vs_ur_mean_over_takes": -0.974, |
| "corr_gello_vs_cmd_mean_over_takes": -0.983, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.666, |
| "n": 20191 |
| }, |
| "gello_q2_minus_ur_q2_rad": { |
| "median": -0.0514, |
| "mean": -0.033, |
| "p05": -0.3445, |
| "p95": 0.3061, |
| "min": -0.5212, |
| "max": 0.533, |
| "take_median_min": -0.3941, |
| "take_median_max": 0.3552, |
| "take_median_std": 0.1708, |
| "corr_gello_vs_ur_mean_over_takes": 0.292, |
| "corr_gello_vs_cmd_mean_over_takes": 0.291, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.004, |
| "n": 20191 |
| }, |
| "gello_q3_minus_ur_q3_rad": { |
| "median": -0.1488, |
| "mean": -0.1746, |
| "p05": -0.6042, |
| "p95": 0.1793, |
| "min": -1.0531, |
| "max": 0.3501, |
| "take_median_min": -0.8053, |
| "take_median_max": 0.1771, |
| "take_median_std": 0.199, |
| "corr_gello_vs_ur_mean_over_takes": 0.297, |
| "corr_gello_vs_cmd_mean_over_takes": 0.298, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.097, |
| "n": 20191 |
| }, |
| "gello_q4_minus_ur_q4_rad": { |
| "median": 0.1569, |
| "mean": 0.1655, |
| "p05": -0.1377, |
| "p95": 0.4935, |
| "min": -0.5136, |
| "max": 0.9686, |
| "take_median_min": -0.1913, |
| "take_median_max": 0.5238, |
| "take_median_std": 0.137, |
| "corr_gello_vs_ur_mean_over_takes": 0.554, |
| "corr_gello_vs_cmd_mean_over_takes": 0.548, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.315, |
| "n": 20191 |
| }, |
| "gello_q5_minus_ur_q5_rad": { |
| "median": -0.0672, |
| "mean": -0.0589, |
| "p05": -0.2119, |
| "p95": 0.1249, |
| "min": -0.3598, |
| "max": 0.3693, |
| "take_median_min": -0.21, |
| "take_median_max": 0.1241, |
| "take_median_std": 0.0659, |
| "corr_gello_vs_ur_mean_over_takes": -0.531, |
| "corr_gello_vs_cmd_mean_over_takes": -0.547, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.259, |
| "n": 20191 |
| }, |
| "gello_q6_minus_ur_q6_rad": { |
| "median": -3.3436, |
| "mean": -3.2759, |
| "p05": -4.0061, |
| "p95": -2.4128, |
| "min": -4.3098, |
| "max": -1.9399, |
| "take_median_min": -4.0052, |
| "take_median_max": -2.3962, |
| "take_median_std": 0.3455, |
| "corr_gello_vs_ur_mean_over_takes": -0.817, |
| "corr_gello_vs_cmd_mean_over_takes": -0.822, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.31, |
| "n": 20191 |
| } |
| } |
| }, |
| "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": 0.0021, |
| "mean_rad": 0.007484, |
| "max_rad": 0.042276 |
| }, |
| "j2": { |
| "median_of_take_medians_rad": 0.0047, |
| "mean_rad": 0.006985, |
| "max_rad": 0.048739 |
| }, |
| "j3": { |
| "median_of_take_medians_rad": 0.0034, |
| "mean_rad": 0.005773, |
| "max_rad": 0.050231 |
| }, |
| "j4": { |
| "median_of_take_medians_rad": 0.0072, |
| "mean_rad": 0.010432, |
| "max_rad": 0.052279 |
| }, |
| "j5": { |
| "median_of_take_medians_rad": 0.0019, |
| "mean_rad": 0.00325, |
| "max_rad": 0.051644 |
| }, |
| "j6": { |
| "median_of_take_medians_rad": 0.0033, |
| "mean_rad": 0.00847, |
| "max_rad": 0.062774 |
| } |
| } |
| }, |
| "timestamp_lag": { |
| "note": "What this block measures: how far `ur_joint_states` (and, by cross-correlation, `tcp_pose`) trail `command` on the recorded t_rel_s timebase. HOW TO READ IT depends on which recorder wrote the corpus. (a) PRE-FIX GUI recorder (no `stamp_s` columns; e.g. Bigenlight/carrot_in_pot_raw, 2026-09-14): t_rel_s is the time the subscription callback RAN, all callbacks shared one spin thread, and depth writes starved it, so /joint_states (KEEP_LAST 100 at ~100 Hz) left the queue ~0.9-1.0 s old and tcp_pose/wrench (depth 50) ~0.5 s old - a RECORDER ARTEFACT with the starvation signature that command/ur_joint_states/tcp_pose/wrench all collapse onto one recorded rate; the fix rule for consumers was to subtract the lag from those tables' t_rel_s. (b) FIXED recorder (header stamps stored as `stamp_s`, queue depth 5, frame I/O on a writer thread; commit 9d54490, 2026-09-14): nothing is stamped late, the four robot tables keep their own native rates, and whatever lag is measured here is the real arm's servo tracking delay behind the streamed joint target - genuine robot behaviour that is IN the data and must NOT be subtracted. `recorder_artefact_expected` below says which case this corpus is, from the presence of `stamp_s`; the `stamp_s` block (when present) carries the direct cross-table evidence. NOTHING IS REWRITTEN HERE: the raw files are as recorded.", |
| "recorder_artefact_expected": false, |
| "ur_joint_states_lag_s": { |
| "min": 0.085, |
| "median": 0.085, |
| "max": 0.085, |
| "n_takes": 60 |
| }, |
| "ur_joint_states_lag_s_mean_objective": { |
| "min": 0.085, |
| "median": 0.085, |
| "max": 0.09, |
| "n_takes": 60 |
| }, |
| "takes_at_modal_lag": 60, |
| "modal_lag_s": 0.085, |
| "residual_rad_at_lag": { |
| "min": 0.0002, |
| "median": 0.0003, |
| "max": 0.0004, |
| "n_takes": 60 |
| }, |
| "residual_rad_at_lag_mean": { |
| "min": 0.0003, |
| "median": 0.0004, |
| "max": 0.0005, |
| "n_takes": 60 |
| }, |
| "residual_rad_at_zero": { |
| "min": 0.0033, |
| "median": 0.0054, |
| "max": 0.0086, |
| "n_takes": 60 |
| }, |
| "residual_rad_at_zero_mean": { |
| "min": 0.0049, |
| "median": 0.0071, |
| "max": 0.0095, |
| "n_takes": 60 |
| }, |
| "xcorr_command_to_ur_joint_states_s": { |
| "min": 0.075, |
| "median": 0.095, |
| "max": 0.1, |
| "n_takes": 60 |
| }, |
| "xcorr_command_to_tcp_pose_s": { |
| "min": 0.065, |
| "median": 0.1, |
| "max": 0.1, |
| "n_takes": 60 |
| }, |
| "xcorr_tcp_pose_to_ur_joint_states_s": { |
| "min": 0.0, |
| "median": 0.0, |
| "max": 0.0, |
| "n_takes": 60 |
| }, |
| "per_take": [ |
| { |
| "take": "take_01_20260919_212809", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
| "residual_rad_at_lag": 0.0003, |
| "residual_rad_at_lag_mean": 0.0005, |
| "n_compared": 2151, |
| "residual_rad_at_zero": 0.0078, |
| "residual_rad_at_zero_mean": 0.0084, |
| "xcorr_command_to_ur_joint_states_s": 0.075, |
| "xcorr_command_to_ur_joint_states_r": 0.947, |
| "xcorr_command_to_tcp_pose_s": 0.08, |
| "xcorr_command_to_tcp_pose_r": 0.839, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.893 |
| }, |
| { |
| "take": "take_01_20260919_213136", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
| "residual_rad_at_lag": 0.0003, |
| "residual_rad_at_lag_mean": 0.0004, |
| "n_compared": 2294, |
| "residual_rad_at_zero": 0.0063, |
| "residual_rad_at_zero_mean": 0.0095, |
| "xcorr_command_to_ur_joint_states_s": 0.1, |
| "xcorr_command_to_ur_joint_states_r": 0.974, |
| "xcorr_command_to_tcp_pose_s": 0.07, |
| "xcorr_command_to_tcp_pose_r": 0.886, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.909 |
| }, |
| { |
| "take": "take_02_20260919_213158", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
| "residual_rad_at_lag": 0.0003, |
| "residual_rad_at_lag_mean": 0.0004, |
| "n_compared": 2434, |
| "residual_rad_at_zero": 0.0053, |
| "residual_rad_at_zero_mean": 0.0077, |
| "xcorr_command_to_ur_joint_states_s": 0.085, |
| "xcorr_command_to_ur_joint_states_r": 0.97, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.86, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.885 |
| }, |
| { |
| "take": "take_03_20260919_213223", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
| "residual_rad_at_lag": 0.0003, |
| "residual_rad_at_lag_mean": 0.0004, |
| "n_compared": 2625, |
| "residual_rad_at_zero": 0.0045, |
| "residual_rad_at_zero_mean": 0.0068, |
| "xcorr_command_to_ur_joint_states_s": 0.1, |
| "xcorr_command_to_ur_joint_states_r": 0.965, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.919, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.951 |
| }, |
| { |
| "take": "take_04_20260919_213244", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
| "residual_rad_at_lag": 0.0002, |
| "residual_rad_at_lag_mean": 0.0003, |
| "n_compared": 2442, |
| "residual_rad_at_zero": 0.0039, |
| "residual_rad_at_zero_mean": 0.0063, |
| "xcorr_command_to_ur_joint_states_s": 0.095, |
| "xcorr_command_to_ur_joint_states_r": 0.978, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.93, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.95 |
| }, |
| { |
| "take": "take_05_20260919_213309", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
| "residual_rad_at_lag": 0.0003, |
| "residual_rad_at_lag_mean": 0.0003, |
| "n_compared": 2282, |
| "residual_rad_at_zero": 0.004, |
| "residual_rad_at_zero_mean": 0.0055, |
| "xcorr_command_to_ur_joint_states_s": 0.1, |
| "xcorr_command_to_ur_joint_states_r": 0.96, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.846, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.878 |
| }, |
| { |
| "take": "take_06_20260919_213329_recover", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
| "residual_rad_at_lag": 0.0003, |
| "residual_rad_at_lag_mean": 0.0004, |
| "n_compared": 3605, |
| "residual_rad_at_zero": 0.005, |
| "residual_rad_at_zero_mean": 0.0064, |
| "xcorr_command_to_ur_joint_states_s": 0.095, |
| "xcorr_command_to_ur_joint_states_r": 0.963, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.867, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.901 |
| }, |
| { |
| "take": "take_07_20260919_213354", |
| "ur_joint_states_lag_s": 0.085, |
| "ur_joint_states_lag_s_mean_objective": 0.085, |
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| "stamp_s": { |
| "present": true, |
| "note": "ROS header stamp (absolute epoch seconds), stored per-row by the FIXED recorder alongside the callback-time `t_rel_s`. A near-zero stamp_minus_cam1_stamp offset and a rate_ratio_trel_over_stamp near 1.0 for every table is the evidence that this corpus does NOT carry the recorder-timestamp-lag artefact described in `timestamp_lag` above (contrast a pre-fix corpus, where ur_joint_states/tcp_pose/wrench are stamped ~0.5-0.9 s late on t_rel_s but stamp_s is exact).", |
| "tables": [ |
| "cam1_frames", |
| "cam2_frames", |
| "gello_joint_states", |
| "tcp_pose", |
| "ur_joint_states", |
| "wrench" |
| ], |
| "per_table": { |
| "cam1_frames": { |
| "dt_stamp_s_median_ms": 33.358, |
| "dt_stamp_s_p99_ms": 33.358, |
| "rate_trel_hz_median_over_takes": 29.984, |
| "rate_stamp_hz_median_over_takes": 29.978, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0002, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0, |
| "n_takes": 60 |
| }, |
| "cam2_frames": { |
| "dt_stamp_s_median_ms": 33.357, |
| "dt_stamp_s_p99_ms": 33.358, |
| "rate_trel_hz_median_over_takes": 29.986, |
| "rate_stamp_hz_median_over_takes": 29.978, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0002, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0064, |
| "n_takes": 60 |
| }, |
| "gello_joint_states": { |
| "dt_stamp_s_median_ms": 33.333, |
| "dt_stamp_s_p99_ms": 33.46, |
| "rate_trel_hz_median_over_takes": 30.004, |
| "rate_stamp_hz_median_over_takes": 30.0, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0001, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.035, |
| "n_takes": 60 |
| }, |
| "tcp_pose": { |
| "dt_stamp_s_median_ms": 2.0, |
| "dt_stamp_s_p99_ms": 2.035, |
| "rate_trel_hz_median_over_takes": 500.054, |
| "rate_stamp_hz_median_over_takes": 499.7, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0007, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.035, |
| "n_takes": 60 |
| }, |
| "ur_joint_states": { |
| "dt_stamp_s_median_ms": 1.999, |
| "dt_stamp_s_p99_ms": 2.053, |
| "rate_trel_hz_median_over_takes": 500.1, |
| "rate_stamp_hz_median_over_takes": 499.769, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0008, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0351, |
| "n_takes": 60 |
| }, |
| "wrench": { |
| "dt_stamp_s_median_ms": 1.999, |
| "dt_stamp_s_p99_ms": 2.052, |
| "rate_trel_hz_median_over_takes": 500.028, |
| "rate_stamp_hz_median_over_takes": 499.717, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0008, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0345, |
| "n_takes": 60 |
| } |
| } |
| }, |
| "regrasp_takes": [ |
| { |
| "take": "take_06_20260919_213329_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.37, |
| "t_open_s": 7.64, |
| "grip_pos_peak": 0.5059 |
| }, |
| { |
| "t_close_s": 11.2, |
| "t_open_s": 13.5, |
| "grip_pos_peak": 0.3765 |
| } |
| ] |
| }, |
| { |
| "take": "take_07_20260919_213354", |
| "closures": [ |
| { |
| "t_close_s": 3.12, |
| "t_open_s": 5.39, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 9.02, |
| "t_open_s": 12.69, |
| "grip_pos_peak": 0.5059 |
| } |
| ] |
| }, |
| { |
| "take": "take_08_20260919_213417_recover_many", |
| "closures": [ |
| { |
| "t_close_s": 3.77, |
| "t_open_s": 8.4, |
| "grip_pos_peak": 0.5059 |
| }, |
| { |
| "t_close_s": 12.27, |
| "t_open_s": 15.24, |
| "grip_pos_peak": 0.502 |
| }, |
| { |
| "t_close_s": 18.17, |
| "t_open_s": 20.27, |
| "grip_pos_peak": 0.5059 |
| } |
| ] |
| }, |
| { |
| "take": "take_09_20260919_213502_recover", |
| "closures": [ |
| { |
| "t_close_s": 5.23, |
| "t_open_s": 9.07, |
| "grip_pos_peak": 0.502 |
| }, |
| { |
| "t_close_s": 12.87, |
| "t_open_s": 17.03, |
| "grip_pos_peak": 0.4784 |
| } |
| ] |
| }, |
| { |
| "take": "take_17_20260919_213803_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.53, |
| "t_open_s": 7.56, |
| "grip_pos_peak": 0.5059 |
| }, |
| { |
| "t_close_s": 10.39, |
| "t_open_s": 13.46, |
| "grip_pos_peak": 0.502 |
| } |
| ] |
| }, |
| { |
| "take": "take_18_20260919_213830_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.24, |
| "t_open_s": 6.58, |
| "grip_pos_peak": 0.502 |
| }, |
| { |
| "t_close_s": 10.38, |
| "t_open_s": 13.11, |
| "grip_pos_peak": 0.4863 |
| } |
| ] |
| }, |
| { |
| "take": "take_28_20260919_214228_recover_many", |
| "closures": [ |
| { |
| "t_close_s": 3.11, |
| "t_open_s": 4.97, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 7.31, |
| "t_open_s": 11.3, |
| "grip_pos_peak": 0.502 |
| }, |
| { |
| "t_close_s": 13.81, |
| "t_open_s": 17.24, |
| "grip_pos_peak": 0.5059 |
| } |
| ] |
| }, |
| { |
| "take": "take_29_20260919_214304_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.17, |
| "t_open_s": 7.3, |
| "grip_pos_peak": 0.502 |
| }, |
| { |
| "t_close_s": 11.3, |
| "t_open_s": 14.6, |
| "grip_pos_peak": 0.3725 |
| } |
| ] |
| }, |
| { |
| "take": "take_42_20260919_214846_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.46, |
| "t_open_s": 9.89, |
| "grip_pos_peak": 0.4863 |
| }, |
| { |
| "t_close_s": 12.69, |
| "t_open_s": 15.59, |
| "grip_pos_peak": 0.5059 |
| } |
| ] |
| }, |
| { |
| "take": "take_43_20260919_214914_recover", |
| "closures": [ |
| { |
| "t_close_s": 4.47, |
| "t_open_s": 11.67, |
| "grip_pos_peak": 0.502 |
| }, |
| { |
| "t_close_s": 14.37, |
| "t_open_s": 18.21, |
| "grip_pos_peak": 0.502 |
| } |
| ] |
| }, |
| { |
| "take": "take_45_20260919_215006_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.98, |
| "t_open_s": 8.55, |
| "grip_pos_peak": 0.502 |
| }, |
| { |
| "t_close_s": 11.72, |
| "t_open_s": 15.68, |
| "grip_pos_peak": 0.5059 |
| } |
| ] |
| }, |
| { |
| "take": "take_50_20260919_215206_recover_many", |
| "closures": [ |
| { |
| "t_close_s": 3.81, |
| "t_open_s": 8.74, |
| "grip_pos_peak": 0.5059 |
| }, |
| { |
| "t_close_s": 12.11, |
| "t_open_s": 12.77, |
| "grip_pos_peak": 0.6392 |
| }, |
| { |
| "t_close_s": 15.37, |
| "t_open_s": 19.11, |
| "grip_pos_peak": 0.502 |
| } |
| ] |
| }, |
| { |
| "take": "take_57_20260919_215436_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.6, |
| "t_open_s": 5.3, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 8.47, |
| "t_open_s": 14.3, |
| "grip_pos_peak": 0.502 |
| } |
| ] |
| } |
| ], |
| "value_ranges": { |
| "cam1_frames/frame_idx": { |
| "min": 0.0, |
| "max": 639.0, |
| "mean": 182.089557, |
| "std": 124.567855, |
| "n": 20177 |
| }, |
| "cam2_frames/frame_idx": { |
| "min": 0.0, |
| "max": 638.0, |
| "mean": 182.049566, |
| "std": 124.50612, |
| "n": 20175 |
| }, |
| "command/cmd1": { |
| "min": 2.658282, |
| "max": 3.553617, |
| "mean": 3.089091, |
| "std": 0.231855, |
| "n": 168243 |
| }, |
| "command/cmd2": { |
| "min": -1.650098, |
| "max": -1.155548, |
| "mean": -1.340117, |
| "std": 0.093564, |
| "n": 168243 |
| }, |
| "command/cmd3": { |
| "min": 1.590092, |
| "max": 2.199524, |
| "mean": 1.87941, |
| "std": 0.096711, |
| "n": 168243 |
| }, |
| "command/cmd4": { |
| "min": -2.545891, |
| "max": -1.775926, |
| "mean": -2.154411, |
| "std": 0.141671, |
| "n": 168243 |
| }, |
| "command/cmd5": { |
| "min": -1.829824, |
| "max": -1.451341, |
| "mean": -1.634029, |
| "std": 0.057329, |
| "n": 168243 |
| }, |
| "command/cmd6": { |
| "min": 2.237073, |
| "max": 3.820188, |
| "mean": 3.037657, |
| "std": 0.246368, |
| "n": 168243 |
| }, |
| "gello_joint_states/q1": { |
| "min": -0.987884, |
| "max": 0.335942, |
| "mean": -0.357656, |
| "std": 0.30402, |
| "n": 20191 |
| }, |
| "gello_joint_states/q2": { |
| "min": -1.805699, |
| "max": -0.863835, |
| "mean": -1.374966, |
| "std": 0.182623, |
| "n": 20191 |
| }, |
| "gello_joint_states/q3": { |
| "min": 0.959883, |
| "max": 2.226951, |
| "mean": 1.704177, |
| "std": 0.222726, |
| "n": 20191 |
| }, |
| "gello_joint_states/q4": { |
| "min": -2.47699, |
| "max": -1.443102, |
| "mean": -1.986663, |
| "std": 0.171668, |
| "n": 20191 |
| }, |
| "gello_joint_states/q5": { |
| "min": -1.878737, |
| "max": -1.435417, |
| "mean": -1.692383, |
| "std": 0.067718, |
| "n": 20191 |
| }, |
| "gello_joint_states/q6": { |
| "min": -1.190776, |
| "max": 0.636195, |
| "mean": -0.239954, |
| "std": 0.372214, |
| "n": 20191 |
| }, |
| "gello_joint_states/qd1": { |
| "min": -1.28356, |
| "max": 1.18067, |
| "mean": -0.016854, |
| "std": 0.183283, |
| "n": 20191 |
| }, |
| "gello_joint_states/qd2": { |
| "min": -0.85505, |
| "max": 1.15142, |
| "mean": 0.009794, |
| "std": 0.108883, |
| "n": 20191 |
| }, |
| "gello_joint_states/qd3": { |
| "min": -1.4398, |
| "max": 0.88104, |
| "mean": 0.020048, |
| "std": 0.183641, |
| "n": 20191 |
| }, |
| "gello_joint_states/qd4": { |
| "min": -1.10632, |
| "max": 1.5366, |
| "mean": -0.029371, |
| "std": 0.207069, |
| "n": 20191 |
| }, |
| "gello_joint_states/qd5": { |
| "min": -1.48497, |
| "max": 1.40308, |
| "mean": 0.006935, |
| "std": 0.085216, |
| "n": 20191 |
| }, |
| "gello_joint_states/qd6": { |
| "min": -2.00108, |
| "max": 2.01235, |
| "mean": -0.014615, |
| "std": 0.257326, |
| "n": 20191 |
| }, |
| "gello_joint_states/stamp_s": { |
| "min": 1789820889.50559, |
| "max": 1789822556.571672, |
| "mean": 1789821805.406317, |
| "std": 439.927267, |
| "n": 20191 |
| }, |
| "gripper/gello_grip": { |
| "min": 0.0, |
| "max": 1.0, |
| "mean": 0.491134, |
| "std": 0.477383, |
| "n": 26542 |
| }, |
| "gripper/grip_cmd": { |
| "min": 0.0, |
| "max": 1.0, |
| "mean": 0.491505, |
| "std": 0.474874, |
| "n": 26542 |
| }, |
| "gripper/grip_pos": { |
| "min": 0.0118, |
| "max": 0.898, |
| "mean": 0.269943, |
| "std": 0.236858, |
| "n": 26542 |
| }, |
| "tcp_pose/qw": { |
| "min": 2e-06, |
| "max": 0.15985, |
| "mean": 0.041093, |
| "std": 0.029545, |
| "n": 335815 |
| }, |
| "tcp_pose/qx": { |
| "min": -0.824162, |
| "max": 0.850612, |
| "mean": 0.518621, |
| "std": 0.451241, |
| "n": 335815 |
| }, |
| "tcp_pose/qy": { |
| "min": -0.820827, |
| "max": 0.854626, |
| "mean": 0.549348, |
| "std": 0.471546, |
| "n": 335815 |
| }, |
| "tcp_pose/qz": { |
| "min": -0.100229, |
| "max": 0.105656, |
| "mean": -0.001509, |
| "std": 0.026651, |
| "n": 335815 |
| }, |
| "tcp_pose/stamp_s": { |
| "min": 1789820889.478313, |
| "max": 1789822556.596102, |
| "mean": 1789821806.285976, |
| "std": 441.08956, |
| "n": 335815 |
| }, |
| "tcp_pose/x": { |
| "min": 0.429893, |
| "max": 0.607463, |
| "mean": 0.534679, |
| "std": 0.024103, |
| "n": 335815 |
| }, |
| "tcp_pose/y": { |
| "min": -0.13291, |
| "max": 0.322872, |
| "mean": 0.089249, |
| "std": 0.120033, |
| "n": 335815 |
| }, |
| "tcp_pose/z": { |
| "min": 0.016529, |
| "max": 0.231512, |
| "mean": 0.108396, |
| "std": 0.048715, |
| "n": 335815 |
| }, |
| "ur_joint_states/eff1": { |
| "min": -2.4197, |
| "max": 2.3814, |
| "mean": 0.021256, |
| "std": 1.000405, |
| "n": 335852 |
| }, |
| "ur_joint_states/eff2": { |
| "min": -6.1638, |
| "max": 4.0699, |
| "mean": -2.474181, |
| "std": 0.921644, |
| "n": 335852 |
| }, |
| "ur_joint_states/eff3": { |
| "min": -4.0081, |
| "max": 3.9613, |
| "mean": -1.825805, |
| "std": 0.882034, |
| "n": 335852 |
| }, |
| "ur_joint_states/eff4": { |
| "min": -0.9624, |
| "max": 1.8409, |
| "mean": -0.377922, |
| "std": 0.228803, |
| "n": 335852 |
| }, |
| "ur_joint_states/eff5": { |
| "min": -1.176, |
| "max": 1.242, |
| "mean": -0.037856, |
| "std": 0.193596, |
| "n": 335852 |
| }, |
| "ur_joint_states/eff6": { |
| "min": -0.4707, |
| "max": 0.4253, |
| "mean": 0.014387, |
| "std": 0.18726, |
| "n": 335852 |
| }, |
| "ur_joint_states/q1": { |
| "min": 2.657941, |
| "max": 3.555539, |
| "mean": 3.087793, |
| "std": 0.231006, |
| "n": 335852 |
| }, |
| "ur_joint_states/q2": { |
| "min": -1.650249, |
| "max": -1.15629, |
| "mean": -1.341921, |
| "std": 0.094006, |
| "n": 335852 |
| }, |
| "ur_joint_states/q3": { |
| "min": 1.595651, |
| "max": 2.199873, |
| "mean": 1.878738, |
| "std": 0.097214, |
| "n": 335852 |
| }, |
| "ur_joint_states/q4": { |
| "min": -2.54517, |
| "max": -1.779714, |
| "mean": -2.152106, |
| "std": 0.143608, |
| "n": 335852 |
| }, |
| "ur_joint_states/q5": { |
| "min": -1.828833, |
| "max": -1.451687, |
| "mean": -1.633571, |
| "std": 0.057208, |
| "n": 335852 |
| }, |
| "ur_joint_states/q6": { |
| "min": 2.237962, |
| "max": 3.820372, |
| "mean": 3.036235, |
| "std": 0.245585, |
| "n": 335852 |
| }, |
| "ur_joint_states/qd1": { |
| "min": -0.412605, |
| "max": 0.493097, |
| "mean": 0.017876, |
| "std": 0.147466, |
| "n": 335852 |
| }, |
| "ur_joint_states/qd2": { |
| "min": -0.48909, |
| "max": 0.56176, |
| "mean": 0.021497, |
| "std": 0.115343, |
| "n": 335852 |
| }, |
| "ur_joint_states/qd3": { |
| "min": -0.439635, |
| "max": 0.58403, |
| "mean": 0.007263, |
| "std": 0.10242, |
| "n": 335852 |
| }, |
| "ur_joint_states/qd4": { |
| "min": -0.597944, |
| "max": 0.59762, |
| "mean": -0.026725, |
| "std": 0.168511, |
| "n": 335852 |
| }, |
| "ur_joint_states/qd5": { |
| "min": -0.584848, |
| "max": 0.595342, |
| "mean": -0.005888, |
| "std": 0.063125, |
| "n": 335852 |
| }, |
| "ur_joint_states/qd6": { |
| "min": -0.655274, |
| "max": 0.59562, |
| "mean": 0.019209, |
| "std": 0.160818, |
| "n": 335852 |
| }, |
| "ur_joint_states/stamp_s": { |
| "min": 1789820889.476271, |
| "max": 1789822556.596117, |
| "mean": 1789821806.242819, |
| "std": 441.66956, |
| "n": 335852 |
| }, |
| "wrench/fx": { |
| "min": -38.38862, |
| "max": 22.61729, |
| "mean": 0.875507, |
| "std": 1.043798, |
| "n": 335812 |
| }, |
| "wrench/fy": { |
| "min": -21.47006, |
| "max": 38.29365, |
| "mean": -2.015192, |
| "std": 1.234283, |
| "n": 335812 |
| }, |
| "wrench/fz": { |
| "min": -118.96012, |
| "max": 15.1545, |
| "mean": 1.165485, |
| "std": 5.903983, |
| "n": 335812 |
| }, |
| "wrench/stamp_s": { |
| "min": 1789820889.476269, |
| "max": 1789822556.596116, |
| "mean": 1789821806.242334, |
| "std": 438.178046, |
| "n": 335812 |
| }, |
| "wrench/tx": { |
| "min": -2.09849, |
| "max": 2.22196, |
| "mean": -0.373245, |
| "std": 0.132382, |
| "n": 335812 |
| }, |
| "wrench/ty": { |
| "min": -0.92079, |
| "max": 1.92967, |
| "mean": -0.103556, |
| "std": 0.125526, |
| "n": 335812 |
| }, |
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| "rate_cam2_frames": 30.0, |
| "rows_command": 2448, |
| "rate_command": 250.18, |
| "rows_ur_joint_states": 4893, |
| "rate_ur_joint_states": 500.22, |
| "rows_tcp_pose": 4893, |
| "rate_tcp_pose": 500.07, |
| "rows_wrench": 4893, |
| "rate_wrench": 500.3, |
| "rows_gripper": 376, |
| "rate_gripper": 38.41, |
| "rows_gello_joint_states": 293, |
| "rate_gello_joint_states": 30.0, |
| "rows_synchronized": 0, |
| "rate_synchronized": null, |
| "duration_s": 9.79, |
| "n_grip_closures": 1, |
| "grip_closures": [ |
| { |
| "t_close_s": 3.67, |
| "t_open_s": 8.8, |
| "grip_pos_peak": 0.4941 |
| } |
| ], |
| "grip_pos_max": 0.4941, |
| "bytes_vectors_h5": 2082848, |
| "bytes_cam1_mp4": 2071708, |
| "cam1_video_frames": 294, |
| "cam1_h5_video_match": true, |
| "bytes_cam2_mp4": 2367538, |
| "cam2_video_frames": 294, |
| "cam2_h5_video_match": true, |
| "cam1_minus_cam2": 0 |
| } |
| ] |
| } |
|
|
