| { |
| "dataset": "Bigenlight/bowl_stack_triple_raw", |
| "task": "stack the orange bowls and place them into the purple bowl", |
| "generated_utc": "2026-09-19T11:13:56+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": 1201.84, |
| "total_cam1_frames": 36030, |
| "total_cam2_frames": 36027, |
| "total_bytes": 881792484, |
| "total_bytes_cam1_mp4": 288347462, |
| "total_bytes_cam2_mp4": 364345630, |
| "total_bytes_vectors_h5": 229099392, |
| "duration_median_s": 18.2, |
| "duration_min_s": 13.85, |
| "duration_max_s": 45.51, |
| "duration_min_take": "take_01_20260919_185842", |
| "duration_max_take": "take_02_20260919_190127_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_190643_recover": 1, |
| "take_02_20260919_190743": -1, |
| "take_03_20260919_190240_recover_many": 1, |
| "take_03_20260919_190824_recover": -1, |
| "take_04_20260919_191003": -1, |
| "take_06_20260919_191130": -1, |
| "take_09_20260919_191304": 1, |
| "take_10_20260919_191336": 1, |
| "take_11_20260919_191412_recover": 1, |
| "take_12_20260919_191510": -1, |
| "take_14_20260919_191631": 1, |
| "take_18_20260919_194727": 1, |
| "take_21_20260919_192043_recover_twice": 1, |
| "take_22_20260919_192141": 1, |
| "take_25_20260919_192349": 1, |
| "take_25_20260919_195320": -1, |
| "take_30_20260919_192638": -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_01_20260919_185842", |
| "take_01_20260919_190643_recover", |
| "take_01_20260919_193517", |
| "take_02_20260919_190127_recover_many", |
| "take_02_20260919_190743", |
| "take_02_20260919_193555", |
| "take_03_20260919_190240_recover_many", |
| "take_03_20260919_190824_recover", |
| "take_03_20260919_193631_recover", |
| "take_04_20260919_191003", |
| "take_04_20260919_193712", |
| "take_05_20260919_191032", |
| "take_05_20260919_193823", |
| "take_06_20260919_191130", |
| "take_06_20260919_193853_recover_many", |
| "take_07_20260919_191202", |
| "take_07_20260919_193953_recover", |
| "take_08_20260919_191234", |
| "take_08_20260919_194027_recover", |
| "take_09_20260919_191304", |
| "take_09_20260919_194116", |
| "take_10_20260919_191336", |
| "take_10_20260919_194144", |
| "take_11_20260919_191412_recover", |
| "take_11_20260919_194214", |
| "take_12_20260919_191510", |
| "take_12_20260919_194248", |
| "take_13_20260919_191551", |
| "take_13_20260919_194325", |
| "take_14_20260919_191631", |
| "take_14_20260919_194356", |
| "take_15_20260919_191709", |
| "take_15_20260919_194510", |
| "take_16_20260919_191740", |
| "take_16_20260919_194611", |
| "take_17_20260919_191810", |
| "take_17_20260919_194649", |
| "take_18_20260919_191840_recover", |
| "take_18_20260919_194727", |
| "take_19_20260919_191920", |
| "take_19_20260919_194801", |
| "take_20_20260919_192003", |
| "take_20_20260919_194953", |
| "take_21_20260919_192043_recover_twice", |
| "take_21_20260919_195024_recover", |
| "take_22_20260919_192141", |
| "take_22_20260919_195146", |
| "take_23_20260919_192226", |
| "take_23_20260919_195219", |
| "take_24_20260919_192301", |
| "take_24_20260919_195250", |
| "take_25_20260919_192349", |
| "take_25_20260919_195320", |
| "take_26_20260919_192420", |
| "take_26_20260919_195348", |
| "take_27_20260919_192453_recover", |
| "take_27_20260919_195422_recover", |
| "take_28_20260919_192538", |
| "take_29_20260919_192606", |
| "take_30_20260919_192638" |
| ], |
| "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": 30.0, |
| "median_dt_ms": 33.7, |
| "p05_dt_ms": 31.6, |
| "p95_dt_ms": 35.1, |
| "max_dt_ms": 44.8, |
| "rate_from_median_dt_hz": 29.67 |
| }, |
| "cam2_frames": { |
| "mean_rate_hz_median_over_takes": 29.98, |
| "mean_rate_hz_min": 29.98, |
| "mean_rate_hz_max": 30.0, |
| "median_dt_ms": 33.7, |
| "p05_dt_ms": 31.6, |
| "p95_dt_ms": 35.1, |
| "max_dt_ms": 45.7, |
| "rate_from_median_dt_hz": 29.67 |
| }, |
| "command": { |
| "mean_rate_hz_median_over_takes": 250.09, |
| "mean_rate_hz_min": 250.03, |
| "mean_rate_hz_max": 250.16, |
| "median_dt_ms": 4.0, |
| "p05_dt_ms": 3.0, |
| "p95_dt_ms": 5.0, |
| "max_dt_ms": 12.0, |
| "rate_from_median_dt_hz": 250.0 |
| }, |
| "ur_joint_states": { |
| "mean_rate_hz_median_over_takes": 500.14, |
| "mean_rate_hz_min": 499.72, |
| "mean_rate_hz_max": 500.31, |
| "median_dt_ms": 2.0, |
| "p05_dt_ms": 1.3, |
| "p95_dt_ms": 2.8, |
| "max_dt_ms": 13.3, |
| "rate_from_median_dt_hz": 500.0 |
| }, |
| "tcp_pose": { |
| "mean_rate_hz_median_over_takes": 500.14, |
| "mean_rate_hz_min": 499.72, |
| "mean_rate_hz_max": 500.3, |
| "median_dt_ms": 2.0, |
| "p05_dt_ms": 0.8, |
| "p95_dt_ms": 3.3, |
| "max_dt_ms": 16.8, |
| "rate_from_median_dt_hz": 500.0 |
| }, |
| "wrench": { |
| "mean_rate_hz_median_over_takes": 500.13, |
| "mean_rate_hz_min": 499.71, |
| "mean_rate_hz_max": 500.29, |
| "median_dt_ms": 2.0, |
| "p05_dt_ms": 1.1, |
| "p95_dt_ms": 3.0, |
| "max_dt_ms": 16.4, |
| "rate_from_median_dt_hz": 500.0 |
| }, |
| "gripper": { |
| "mean_rate_hz_median_over_takes": 39.75, |
| "mean_rate_hz_min": 38.11, |
| "mean_rate_hz_max": 42.87, |
| "median_dt_ms": 32.5, |
| "p05_dt_ms": 0.7, |
| "p95_dt_ms": 34.2, |
| "max_dt_ms": 38.7, |
| "rate_from_median_dt_hz": 30.77 |
| }, |
| "gello_joint_states": { |
| "mean_rate_hz_median_over_takes": 30.0, |
| "mean_rate_hz_min": 30.0, |
| "mean_rate_hz_max": 30.02, |
| "median_dt_ms": 33.4, |
| "p05_dt_ms": 32.3, |
| "p95_dt_ms": 34.3, |
| "max_dt_ms": 38.4, |
| "rate_from_median_dt_hz": 29.94 |
| } |
| }, |
| "leader_vs_follower": { |
| "note": "gello_* is the GELLO LEADER. Measured here: the leader joints in this session are NOT a fixed-offset mirror of the follower (contrast cube_in_cup_raw, where joints 1-5 tracked within +/-0.011 rad). Per-joint difference statistics are given for completeness; the per-take median of the difference itself scatters (see *_take_median_std), so there is no single offset to subtract. WHY: this session was recorded in END-EFFECTOR (EEF) delta teleop mode (ur7e_gello_real.launch.py robot_ip:=<ROBOT_IP> headless_mode:=true control_mode:=eef), not joint mode. The bridge computes the leader end-effector pose by forward kinematics of a virtual leader chain, takes the pose delta, and solves IK on the UR7e to produce the joint targets in `command`. The leader's own joint angles are a different kinematic solution, so joint-1 anti-correlation is expected and joint 6 is not a 2*pi wrap. cube_in_cup_raw / banana_in_pot_raw were joint-mode recordings, hence their ~0 offsets. `command` remains the true absolute joint target in both modes.", |
| "per_joint": { |
| "gello_q1_minus_ur_q1_rad": { |
| "median": -2.9513, |
| "mean": -2.9624, |
| "p05": -3.7599, |
| "p95": -2.2867, |
| "min": -4.2343, |
| "max": -2.061, |
| "take_median_min": -3.4218, |
| "take_median_max": -2.5122, |
| "take_median_std": 0.1925, |
| "corr_gello_vs_ur_mean_over_takes": -0.98, |
| "corr_gello_vs_cmd_mean_over_takes": -0.987, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.64, |
| "n": 36055 |
| }, |
| "gello_q2_minus_ur_q2_rad": { |
| "median": 0.2119, |
| "mean": 0.2458, |
| "p05": -0.1979, |
| "p95": 0.7397, |
| "min": -0.7111, |
| "max": 1.1914, |
| "take_median_min": -0.223, |
| "take_median_max": 0.9863, |
| "take_median_std": 0.2522, |
| "corr_gello_vs_ur_mean_over_takes": 0.181, |
| "corr_gello_vs_cmd_mean_over_takes": 0.186, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.146, |
| "n": 36055 |
| }, |
| "gello_q3_minus_ur_q3_rad": { |
| "median": -0.4445, |
| "mean": -0.4795, |
| "p05": -1.1224, |
| "p95": 0.0815, |
| "min": -1.7642, |
| "max": 0.6965, |
| "take_median_min": -1.3473, |
| "take_median_max": 0.0637, |
| "take_median_std": 0.2914, |
| "corr_gello_vs_ur_mean_over_takes": 0.038, |
| "corr_gello_vs_cmd_mean_over_takes": 0.028, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.089, |
| "n": 36055 |
| }, |
| "gello_q4_minus_ur_q4_rad": { |
| "median": 0.3467, |
| "mean": 0.3311, |
| "p05": -0.2108, |
| "p95": 0.8757, |
| "min": -1.0759, |
| "max": 1.8146, |
| "take_median_min": -0.3091, |
| "take_median_max": 0.8197, |
| "take_median_std": 0.2179, |
| "corr_gello_vs_ur_mean_over_takes": 0.061, |
| "corr_gello_vs_cmd_mean_over_takes": 0.06, |
| "corr_dgello_vs_dcmd_mean_over_takes": 0.235, |
| "n": 36055 |
| }, |
| "gello_q5_minus_ur_q5_rad": { |
| "median": -0.059, |
| "mean": -0.0274, |
| "p05": -0.36, |
| "p95": 0.4035, |
| "min": -0.9106, |
| "max": 1.1218, |
| "take_median_min": -0.3138, |
| "take_median_max": 0.3062, |
| "take_median_std": 0.1346, |
| "corr_gello_vs_ur_mean_over_takes": -0.731, |
| "corr_gello_vs_cmd_mean_over_takes": -0.749, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.435, |
| "n": 36055 |
| }, |
| "gello_q6_minus_ur_q6_rad": { |
| "median": -2.7296, |
| "mean": -2.7232, |
| "p05": -3.4767, |
| "p95": -2.091, |
| "min": -3.8445, |
| "max": -1.9227, |
| "take_median_min": -3.0713, |
| "take_median_max": -2.3642, |
| "take_median_std": 0.1647, |
| "corr_gello_vs_ur_mean_over_takes": -0.226, |
| "corr_gello_vs_cmd_mean_over_takes": -0.225, |
| "corr_dgello_vs_dcmd_mean_over_takes": -0.003, |
| "n": 36055 |
| } |
| } |
| }, |
| "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": 0.0019, |
| "mean_rad": 0.006087, |
| "max_rad": 0.046939 |
| }, |
| "j2": { |
| "median_of_take_medians_rad": 0.0043, |
| "mean_rad": 0.006367, |
| "max_rad": 0.042846 |
| }, |
| "j3": { |
| "median_of_take_medians_rad": 0.003, |
| "mean_rad": 0.005363, |
| "max_rad": 0.049309 |
| }, |
| "j4": { |
| "median_of_take_medians_rad": 0.0082, |
| "mean_rad": 0.012033, |
| "max_rad": 0.072046 |
| }, |
| "j5": { |
| "median_of_take_medians_rad": 0.002, |
| "mean_rad": 0.004741, |
| "max_rad": 0.052521 |
| }, |
| "j6": { |
| "median_of_take_medians_rad": 0.0035, |
| "mean_rad": 0.008604, |
| "max_rad": 0.0608 |
| } |
| } |
| }, |
| "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": 0.09, |
| "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": 53, |
| "modal_lag_s": 0.085, |
| "residual_rad_at_lag": { |
| "min": 0.0002, |
| "median": 0.0003, |
| "max": 0.0005, |
| "n_takes": 60 |
| }, |
| "residual_rad_at_lag_mean": { |
| "min": 0.0003, |
| "median": 0.0004, |
| "max": 0.0006, |
| "n_takes": 60 |
| }, |
| "residual_rad_at_zero": { |
| "min": 0.0032, |
| "median": 0.0058, |
| "max": 0.01, |
| "n_takes": 60 |
| }, |
| "residual_rad_at_zero_mean": { |
| "min": 0.0051, |
| "median": 0.0069, |
| "max": 0.0106, |
| "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": 0.13, |
| "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_185842", |
| "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": 3441, |
| "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": 0.974, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.925, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.951 |
| }, |
| { |
| "take": "take_01_20260919_190643_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": 8649, |
| "residual_rad_at_zero": 0.0038, |
| "residual_rad_at_zero_mean": 0.0053, |
| "xcorr_command_to_ur_joint_states_s": 0.095, |
| "xcorr_command_to_ur_joint_states_r": 0.969, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.851, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.871 |
| }, |
| { |
| "take": "take_01_20260919_193517", |
| "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": 3933, |
| "residual_rad_at_zero": 0.0045, |
| "residual_rad_at_zero_mean": 0.0062, |
| "xcorr_command_to_ur_joint_states_s": 0.1, |
| "xcorr_command_to_ur_joint_states_r": 0.969, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.841, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.872 |
| }, |
| { |
| "take": "take_02_20260919_190127_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": 11354, |
| "residual_rad_at_zero": 0.0043, |
| "residual_rad_at_zero_mean": 0.0055, |
| "xcorr_command_to_ur_joint_states_s": 0.095, |
| "xcorr_command_to_ur_joint_states_r": 0.961, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.873, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.901 |
| }, |
| { |
| "take": "take_02_20260919_190743", |
| "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": 0.0004, |
| "n_compared": 4194, |
| "residual_rad_at_zero": 0.004, |
| "residual_rad_at_zero_mean": 0.0051, |
| "xcorr_command_to_ur_joint_states_s": 0.1, |
| "xcorr_command_to_ur_joint_states_r": 0.928, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.849, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
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| }, |
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| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.763 |
| }, |
| { |
| "take": "take_29_20260919_192606", |
| "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": 3649, |
| "residual_rad_at_zero": 0.0044, |
| "residual_rad_at_zero_mean": 0.0066, |
| "xcorr_command_to_ur_joint_states_s": 0.095, |
| "xcorr_command_to_ur_joint_states_r": 0.965, |
| "xcorr_command_to_tcp_pose_s": 0.095, |
| "xcorr_command_to_tcp_pose_r": 0.881, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.917 |
| }, |
| { |
| "take": "take_30_20260919_192638", |
| "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": 4453, |
| "residual_rad_at_zero": 0.0053, |
| "residual_rad_at_zero_mean": 0.0067, |
| "xcorr_command_to_ur_joint_states_s": 0.1, |
| "xcorr_command_to_ur_joint_states_r": 0.959, |
| "xcorr_command_to_tcp_pose_s": 0.1, |
| "xcorr_command_to_tcp_pose_r": 0.822, |
| "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, |
| "xcorr_tcp_pose_to_ur_joint_states_r": 0.856 |
| } |
| ], |
| "interpretation": "Reported command/state lag is diagnostic; no lag is subtracted during conversion." |
| }, |
| "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": 29.981, |
| "rate_stamp_hz_median_over_takes": 29.978, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0001, |
| "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": 29.981, |
| "rate_stamp_hz_median_over_takes": 29.978, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0001, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0001, |
| "n_takes": 60 |
| }, |
| "gello_joint_states": { |
| "dt_stamp_s_median_ms": 33.333, |
| "dt_stamp_s_p99_ms": 33.427, |
| "rate_trel_hz_median_over_takes": 30.001, |
| "rate_stamp_hz_median_over_takes": 30.0, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0347, |
| "n_takes": 60 |
| }, |
| "tcp_pose": { |
| "dt_stamp_s_median_ms": 2.0, |
| "dt_stamp_s_p99_ms": 2.037, |
| "rate_trel_hz_median_over_takes": 500.135, |
| "rate_stamp_hz_median_over_takes": 499.949, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0004, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0345, |
| "n_takes": 60 |
| }, |
| "ur_joint_states": { |
| "dt_stamp_s_median_ms": 2.0, |
| "dt_stamp_s_p99_ms": 2.04, |
| "rate_trel_hz_median_over_takes": 500.14, |
| "rate_stamp_hz_median_over_takes": 499.946, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0004, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0353, |
| "n_takes": 60 |
| }, |
| "wrench": { |
| "dt_stamp_s_median_ms": 2.0, |
| "dt_stamp_s_p99_ms": 2.039, |
| "rate_trel_hz_median_over_takes": 500.132, |
| "rate_stamp_hz_median_over_takes": 499.946, |
| "rate_ratio_trel_over_stamp_median_over_takes": 1.0004, |
| "stamp_minus_cam1_stamp_at_same_t_rel_s_median_over_takes": 0.0348, |
| "n_takes": 60 |
| } |
| } |
| }, |
| "regrasp_takes": [ |
| { |
| "take": "take_01_20260919_185842", |
| "closures": [ |
| { |
| "t_close_s": 3.78, |
| "t_open_s": 6.91, |
| "grip_pos_peak": 0.8588 |
| }, |
| { |
| "t_close_s": 8.92, |
| "t_open_s": 12.45, |
| "grip_pos_peak": 0.8196 |
| } |
| ] |
| }, |
| { |
| "take": "take_01_20260919_190643_recover", |
| "closures": [ |
| { |
| "t_close_s": 4.86, |
| "t_open_s": 11.06, |
| "grip_pos_peak": 0.8784 |
| }, |
| { |
| "t_close_s": 13.46, |
| "t_open_s": 15.62, |
| "grip_pos_peak": 0.8784 |
| }, |
| { |
| "t_close_s": 17.46, |
| "t_open_s": 21.32, |
| "grip_pos_peak": 0.8275 |
| }, |
| { |
| "t_close_s": 28.36, |
| "t_open_s": 33.29, |
| "grip_pos_peak": 0.8 |
| } |
| ] |
| }, |
| { |
| "take": "take_01_20260919_193517", |
| "closures": [ |
| { |
| "t_close_s": 4.07, |
| "t_open_s": 8.03, |
| "grip_pos_peak": 0.8706 |
| }, |
| { |
| "t_close_s": 10.57, |
| "t_open_s": 14.37, |
| "grip_pos_peak": 0.8353 |
| } |
| ] |
| }, |
| { |
| "take": "take_02_20260919_190127_recover_many", |
| "closures": [ |
| { |
| "t_close_s": 3.86, |
| "t_open_s": 5.73, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 9.56, |
| "t_open_s": 13.59, |
| "grip_pos_peak": 0.851 |
| }, |
| { |
| "t_close_s": 16.33, |
| "t_open_s": 17.49, |
| "grip_pos_peak": 0.851 |
| }, |
| { |
| "t_close_s": 19.79, |
| "t_open_s": 22.9, |
| "grip_pos_peak": 0.8549 |
| }, |
| { |
| "t_close_s": 24.7, |
| "t_open_s": 27.6, |
| "grip_pos_peak": 0.8627 |
| }, |
| { |
| "t_close_s": 29.4, |
| "t_open_s": 32.73, |
| "grip_pos_peak": 0.8 |
| }, |
| { |
| "t_close_s": 39.33, |
| "t_open_s": 43.89, |
| "grip_pos_peak": 0.7961 |
| } |
| ] |
| }, |
| { |
| "take": "take_02_20260919_190743", |
| "closures": [ |
| { |
| "t_close_s": 3.18, |
| "t_open_s": 8.82, |
| "grip_pos_peak": 0.8706 |
| }, |
| { |
| "t_close_s": 10.82, |
| "t_open_s": 15.45, |
| "grip_pos_peak": 0.8275 |
| } |
| ] |
| }, |
| { |
| "take": "take_02_20260919_193555", |
| "closures": [ |
| { |
| "t_close_s": 5.28, |
| "t_open_s": 9.32, |
| "grip_pos_peak": 0.8588 |
| }, |
| { |
| "t_close_s": 10.88, |
| "t_open_s": 13.58, |
| "grip_pos_peak": 0.8745 |
| }, |
| { |
| "t_close_s": 17.08, |
| "t_open_s": 21.35, |
| "grip_pos_peak": 0.851 |
| } |
| ] |
| }, |
| { |
| "take": "take_03_20260919_190240_recover_many", |
| "closures": [ |
| { |
| "t_close_s": 5.21, |
| "t_open_s": 10.34, |
| "grip_pos_peak": 0.8431 |
| }, |
| { |
| "t_close_s": 13.41, |
| "t_open_s": 14.04, |
| "grip_pos_peak": 0.6314 |
| }, |
| { |
| "t_close_s": 15.84, |
| "t_open_s": 17.58, |
| "grip_pos_peak": 0.8118 |
| }, |
| { |
| "t_close_s": 19.21, |
| "t_open_s": 22.21, |
| "grip_pos_peak": 0.8588 |
| }, |
| { |
| "t_close_s": 24.88, |
| "t_open_s": 28.01, |
| "grip_pos_peak": 0.898 |
| } |
| ] |
| }, |
| { |
| "take": "take_03_20260919_190824_recover", |
| "closures": [ |
| { |
| "t_close_s": 5.93, |
| "t_open_s": 10.79, |
| "grip_pos_peak": 0.8588 |
| }, |
| { |
| "t_close_s": 13.66, |
| "t_open_s": 14.73, |
| "grip_pos_peak": 0.8353 |
| }, |
| { |
| "t_close_s": 15.73, |
| "t_open_s": 18.36, |
| "grip_pos_peak": 0.8627 |
| }, |
| { |
| "t_close_s": 23.03, |
| "t_open_s": 27.39, |
| "grip_pos_peak": 0.8157 |
| } |
| ] |
| }, |
| { |
| "take": "take_03_20260919_193631_recover", |
| "closures": [ |
| { |
| "t_close_s": 4.46, |
| "t_open_s": 8.92, |
| "grip_pos_peak": 0.8706 |
| }, |
| { |
| "t_close_s": 13.39, |
| "t_open_s": 15.66, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 19.26, |
| "t_open_s": 23.49, |
| "grip_pos_peak": 0.8078 |
| } |
| ] |
| }, |
| { |
| "take": "take_04_20260919_191003", |
| "closures": [ |
| { |
| "t_close_s": 3.31, |
| "t_open_s": 7.81, |
| "grip_pos_peak": 0.8784 |
| }, |
| { |
| "t_close_s": 10.95, |
| "t_open_s": 14.51, |
| "grip_pos_peak": 0.8039 |
| } |
| ] |
| }, |
| { |
| "take": "take_04_20260919_193712", |
| "closures": [ |
| { |
| "t_close_s": 4.78, |
| "t_open_s": 8.28, |
| "grip_pos_peak": 0.8706 |
| }, |
| { |
| "t_close_s": 12.91, |
| "t_open_s": 19.08, |
| "grip_pos_peak": 0.8196 |
| } |
| ] |
| }, |
| { |
| "take": "take_05_20260919_191032", |
| "closures": [ |
| { |
| "t_close_s": 3.75, |
| "t_open_s": 8.22, |
| "grip_pos_peak": 0.8431 |
| }, |
| { |
| "t_close_s": 10.32, |
| "t_open_s": 14.15, |
| "grip_pos_peak": 0.7922 |
| } |
| ] |
| }, |
| { |
| "take": "take_05_20260919_193823", |
| "closures": [ |
| { |
| "t_close_s": 4.54, |
| "t_open_s": 8.97, |
| "grip_pos_peak": 0.8824 |
| }, |
| { |
| "t_close_s": 12.91, |
| "t_open_s": 17.14, |
| "grip_pos_peak": 0.8275 |
| } |
| ] |
| }, |
| { |
| "take": "take_06_20260919_191130", |
| "closures": [ |
| { |
| "t_close_s": 3.83, |
| "t_open_s": 7.96, |
| "grip_pos_peak": 0.8667 |
| }, |
| { |
| "t_close_s": 10.23, |
| "t_open_s": 14.16, |
| "grip_pos_peak": 0.8157 |
| } |
| ] |
| }, |
| { |
| "take": "take_06_20260919_193853_recover_many", |
| "closures": [ |
| { |
| "t_close_s": 3.12, |
| "t_open_s": 6.55, |
| "grip_pos_peak": 0.8627 |
| }, |
| { |
| "t_close_s": 11.35, |
| "t_open_s": 13.82, |
| "grip_pos_peak": 0.8667 |
| }, |
| { |
| "t_close_s": 19.39, |
| "t_open_s": 20.52, |
| "grip_pos_peak": 0.8784 |
| }, |
| { |
| "t_close_s": 22.79, |
| "t_open_s": 24.85, |
| "grip_pos_peak": 0.8667 |
| }, |
| { |
| "t_close_s": 31.62, |
| "t_open_s": 33.12, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 35.52, |
| "t_open_s": 40.39, |
| "grip_pos_peak": 0.7961 |
| } |
| ] |
| }, |
| { |
| "take": "take_07_20260919_191202", |
| "closures": [ |
| { |
| "t_close_s": 3.56, |
| "t_open_s": 8.06, |
| "grip_pos_peak": 0.8745 |
| }, |
| { |
| "t_close_s": 12.96, |
| "t_open_s": 16.99, |
| "grip_pos_peak": 0.8118 |
| } |
| ] |
| }, |
| { |
| "take": "take_07_20260919_193953_recover", |
| "closures": [ |
| { |
| "t_close_s": 3.9, |
| "t_open_s": 5.4, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 8.84, |
| "t_open_s": 12.44, |
| "grip_pos_peak": 0.8745 |
| }, |
| { |
| "t_close_s": 16.54, |
| "t_open_s": 19.97, |
| "grip_pos_peak": 0.7725 |
| } |
| ] |
| }, |
| { |
| "take": "take_08_20260919_191234", |
| "closures": [ |
| { |
| "t_close_s": 3.21, |
| "t_open_s": 7.14, |
| "grip_pos_peak": 0.8706 |
| }, |
| { |
| "t_close_s": 12.28, |
| "t_open_s": 15.88, |
| "grip_pos_peak": 0.8275 |
| } |
| ] |
| }, |
| { |
| "take": "take_08_20260919_194027_recover", |
| "closures": [ |
| { |
| "t_close_s": 2.05, |
| "t_open_s": 3.18, |
| "grip_pos_peak": 0.898 |
| }, |
| { |
| "t_close_s": 5.75, |
| "t_open_s": 9.58, |
| "grip_pos_peak": 0.8745 |
| }, |
| { |
| "t_close_s": 12.18, |
| "t_open_s": 15.71, |
| "grip_pos_peak": 0.8039 |
| } |
| ] |
| }, |
| { |
| "take": "take_09_20260919_191304", |
| "closures": [ |
| { |
| "t_close_s": 3.53, |
| "t_open_s": 7.9, |
| "grip_pos_peak": 0.8784 |
| }, |
| { |
| "t_close_s": 11.03, |
| "t_open_s": 14.33, |
| "grip_pos_peak": 0.8275 |
| } |
| ] |
| }, |
| { |
| "take": "take_09_20260919_194116", |
| "closures": [ |
| { |
| "t_close_s": 4.06, |
| "t_open_s": 7.86, |
| "grip_pos_peak": 0.8784 |
| }, |
| { |
| "t_close_s": 11.36, |
| "t_open_s": 14.72, |
| "grip_pos_peak": 0.7961 |
| } |
| ] |
| }, |
| { |
| "take": "take_10_20260919_191336", |
| "closures": [ |
| { |
| "t_close_s": 4.31, |
| "t_open_s": 7.64, |
| "grip_pos_peak": 0.8745 |
| }, |
| { |
| "t_close_s": 10.47, |
| "t_open_s": 14.71, |
| "grip_pos_peak": 0.8157 |
| } |
| ] |
| }, |
| { |
| "take": "take_10_20260919_194144", |
| "closures": [ |
| { |
| "t_close_s": 4.11, |
| "t_open_s": 7.94, |
| "grip_pos_peak": 0.8706 |
| }, |
| { |
| "t_close_s": 10.77, |
| "t_open_s": 11.54, |
| "grip_pos_peak": 0.8275 |
| }, |
| { |
| "t_close_s": 13.41, |
| "t_open_s": 16.87, |
| "grip_pos_peak": 0.8275 |
| } |
| ] |
| }, |
| { |
| "take": "take_11_20260919_191412_recover", |
| "closures": [ |
| { |
| "t_close_s": 4.09, |
| "t_open_s": 7.22, |
| "grip_pos_peak": 0.851 |
| }, |
| { |
| "t_close_s": 11.49, |
| "t_open_s": 15.02, |
| "grip_pos_peak": 0.8627 |
| }, |
| { |
| "t_close_s": 19.99, |
| "t_open_s": 23.95, |
| "grip_pos_peak": 0.8314 |
| } |
| ] |
| }, |
| { |
| "take": "take_11_20260919_194214", |
| "closures": [ |
| { |
| "t_close_s": 3.98, |
| "t_open_s": 8.35, |
| "grip_pos_peak": 0.8431 |
| }, |
| { |
| "t_close_s": 10.75, |
| "t_open_s": 14.38, |
| "grip_pos_peak": 0.8314 |
| } |
| ] |
| }, |
| { |
| "take": "take_12_20260919_191510", |
| "closures": [ |
| { |
| "t_close_s": 4.42, |
| "t_open_s": 9.49, |
| "grip_pos_peak": 0.8667 |
| }, |
| { |
| "t_close_s": 15.22, |
| "t_open_s": 19.72, |
| "grip_pos_peak": 0.8392 |
| } |
| ] |
| }, |
| { |
| "take": "take_12_20260919_194248", |
| "closures": [ |
| { |
| "t_close_s": 3.3, |
| "t_open_s": 6.4, |
| "grip_pos_peak": 0.8667 |
| }, |
| { |
| "t_close_s": 14.0, |
| "t_open_s": 15.5, |
| "grip_pos_peak": 0.8784 |
| }, |
| { |
| "t_close_s": 18.93, |
| "t_open_s": 23.16, |
| "grip_pos_peak": 0.7804 |
| } |
| ] |
| }, |
| { |
| "take": "take_13_20260919_191551", |
| "closures": [ |
| { |
| "t_close_s": 3.71, |
| "t_open_s": 7.51, |
| "grip_pos_peak": 0.8471 |
| }, |
| { |
| "t_close_s": 10.47, |
| "t_open_s": 13.77, |
| "grip_pos_peak": 0.8157 |
| } |
| ] |
| }, |
| { |
| "take": "take_13_20260919_194325", |
| "closures": [ |
| { |
| "t_close_s": 3.65, |
| "t_open_s": 6.88, |
| "grip_pos_peak": 0.8745 |
| }, |
| { |
| "t_close_s": 10.48, |
| "t_open_s": 14.48, |
| "grip_pos_peak": 0.8314 |
| } |
| ] |
| }, |
| { |
| "take": "take_14_20260919_191631", |
| "closures": [ |
| { |
| "t_close_s": 3.62, |
| "t_open_s": 6.69, |
| "grip_pos_peak": 0.8745 |
| }, |
| { |
| "t_close_s": 9.96, |
| "t_open_s": 13.75, |
| "grip_pos_peak": 0.8275 |
| } |
| ] |
| }, |
| { |
| "take": "take_14_20260919_194356", |
| "closures": [ |
| { |
| "t_close_s": 3.92, |
| "t_open_s": 6.79, |
| "grip_pos_peak": 0.8706 |
| }, |
| { |
| "t_close_s": 9.66, |
| "t_open_s": 13.92, |
| "grip_pos_peak": 0.7922 |
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