diff --git "a/dataset_stats.json" "b/dataset_stats.json" new file mode 100644--- /dev/null +++ "b/dataset_stats.json" @@ -0,0 +1,4425 @@ +{ + "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:= 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, + "residual_rad_at_lag": 0.0003, + "residual_rad_at_lag_mean": 0.0004, + "n_compared": 3396, + "residual_rad_at_zero": 0.0049, + "residual_rad_at_zero_mean": 0.0064, + "xcorr_command_to_ur_joint_states_s": 0.1, + "xcorr_command_to_ur_joint_states_r": 0.966, + "xcorr_command_to_tcp_pose_s": 0.1, + "xcorr_command_to_tcp_pose_r": 0.896, + "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, + "xcorr_tcp_pose_to_ur_joint_states_r": 0.918 + }, + { + "take": "take_08_20260919_213417_recover_many", + "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": 5309, + "residual_rad_at_zero": 0.0052, + "residual_rad_at_zero_mean": 0.0069, + "xcorr_command_to_ur_joint_states_s": 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0.903, + "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, + "xcorr_tcp_pose_to_ur_joint_states_r": 0.936 + } + ] + }, + "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, + 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