{ "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": 0.095, "xcorr_command_to_ur_joint_states_r": 0.958, "xcorr_command_to_tcp_pose_s": 0.095, "xcorr_command_to_tcp_pose_r": 0.817, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.857 }, { "take": "take_09_20260919_213502_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": 4565, "residual_rad_at_zero": 0.0041, "residual_rad_at_zero_mean": 0.0057, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.967, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.898, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.925 }, { "take": "take_10_20260919_213536", "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": 2744, "residual_rad_at_zero": 0.0061, "residual_rad_at_zero_mean": 0.0092, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.975, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.892, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.907 }, { "take": "take_11_20260919_213559", "ur_joint_states_lag_s": 0.085, 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0.911 }, { "take": "take_43_20260919_214914_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": 4782, "residual_rad_at_zero": 0.0052, "residual_rad_at_zero_mean": 0.007, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.962, "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": 0.894 }, { "take": "take_44_20260919_214945", "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": 2230, "residual_rad_at_zero": 0.0053, "residual_rad_at_zero_mean": 0.0069, "xcorr_command_to_ur_joint_states_s": 0.09, "xcorr_command_to_ur_joint_states_r": 0.957, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.887, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.924 }, { "take": "take_45_20260919_215006_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": 0.0005, "n_compared": 4214, "residual_rad_at_zero": 0.0059, "residual_rad_at_zero_mean": 0.007, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.962, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.836, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.865 }, { "take": "take_46_20260919_215036", "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": 2358, "residual_rad_at_zero": 0.0048, "residual_rad_at_zero_mean": 0.0073, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.975, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.901, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.923 }, { "take": "take_47_20260919_215058", "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": 2498, "residual_rad_at_zero": 0.0054, "residual_rad_at_zero_mean": 0.0069, "xcorr_command_to_ur_joint_states_s": 0.085, "xcorr_command_to_ur_joint_states_r": 0.969, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.899, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.927 }, { "take": "take_48_20260919_215126", "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": 2414, "residual_rad_at_zero": 0.0075, "residual_rad_at_zero_mean": 0.0088, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.97, "xcorr_command_to_tcp_pose_s": 0.065, "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": 0.893 }, { "take": "take_49_20260919_215144", "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": 2134, "residual_rad_at_zero": 0.0042, "residual_rad_at_zero_mean": 0.007, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.976, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.938, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.955 }, { "take": "take_50_20260919_215206_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": 0.0004, "n_compared": 5062, "residual_rad_at_zero": 0.0048, "residual_rad_at_zero_mean": 0.0064, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.967, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.788, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.812 }, { "take": "take_51_20260919_215240", "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": 2545, "residual_rad_at_zero": 0.0057, "residual_rad_at_zero_mean": 0.0074, "xcorr_command_to_ur_joint_states_s": 0.085, "xcorr_command_to_ur_joint_states_r": 0.971, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.859, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.886 }, { "take": "take_52_20260919_215303", "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": 2140, "residual_rad_at_zero": 0.005, "residual_rad_at_zero_mean": 0.008, "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": 0.926, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.943 }, { "take": "take_53_20260919_215322", "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": 2213, "residual_rad_at_zero": 0.0054, "residual_rad_at_zero_mean": 0.0081, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.988, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.928, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.932 }, { "take": "take_54_20260919_215340", "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": 2484, "residual_rad_at_zero": 0.0047, "residual_rad_at_zero_mean": 0.0074, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.976, "xcorr_command_to_tcp_pose_s": 0.095, "xcorr_command_to_tcp_pose_r": 0.937, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.959 }, { "take": "take_55_20260919_215359", "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": 2446, "residual_rad_at_zero": 0.0039, "residual_rad_at_zero_mean": 0.006, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.979, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.94, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.954 }, { "take": "take_56_20260919_215418", "ur_joint_states_lag_s": 0.085, "ur_joint_states_lag_s_mean_objective": 0.085, "residual_rad_at_lag": 0.0004, "residual_rad_at_lag_mean": 0.0005, "n_compared": 2131, "residual_rad_at_zero": 0.0066, "residual_rad_at_zero_mean": 0.008, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.964, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.876, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.908 }, { "take": "take_57_20260919_215436_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": 3798, "residual_rad_at_zero": 0.0046, "residual_rad_at_zero_mean": 0.0057, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.962, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.809, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.838 }, { "take": "take_58_20260919_215503", "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": 2632, "residual_rad_at_zero": 0.005, "residual_rad_at_zero_mean": 0.007, "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": 0.878, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.905 }, { "take": "take_59_20260919_215546", "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": 2426, "residual_rad_at_zero": 0.0056, "residual_rad_at_zero_mean": 0.0074, "xcorr_command_to_ur_joint_states_s": 0.09, "xcorr_command_to_ur_joint_states_r": 0.967, "xcorr_command_to_tcp_pose_s": 0.09, "xcorr_command_to_tcp_pose_r": 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, "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": 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