{ "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:= 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, "xcorr_tcp_pose_to_ur_joint_states_r": 0.907 }, { "take": "take_02_20260919_193555", "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": 5695, "residual_rad_at_zero": 0.0047, "residual_rad_at_zero_mean": 0.006, "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": 0.846, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.884 }, { "take": "take_03_20260919_190240_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": 7518, "residual_rad_at_zero": 0.004, "residual_rad_at_zero_mean": 0.0065, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.973, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.865, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.887 }, { "take": "take_03_20260919_190824_recover", "ur_joint_states_lag_s": 0.085, "ur_joint_states_lag_s_mean_objective": 0.09, "residual_rad_at_lag": 0.0002, "residual_rad_at_lag_mean": 0.0004, "n_compared": 7154, "residual_rad_at_zero": 0.0032, 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"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": 5471, "residual_rad_at_zero": 0.0063, "residual_rad_at_zero_mean": 0.0081, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.971, "xcorr_command_to_tcp_pose_s": 0.095, "xcorr_command_to_tcp_pose_r": 0.826, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.851 }, { "take": "take_19_20260919_194801", "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": 3785, "residual_rad_at_zero": 0.0073, "residual_rad_at_zero_mean": 0.0072, "xcorr_command_to_ur_joint_states_s": 0.075, "xcorr_command_to_ur_joint_states_r": 0.952, "xcorr_command_to_tcp_pose_s": 0.105, "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": 0.862 }, { "take": "take_20_20260919_192003", "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": 4659, "residual_rad_at_zero": 0.0046, "residual_rad_at_zero_mean": 0.0054, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.964, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.877, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.904 }, { "take": "take_20_20260919_194953", "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": 0.0006, "n_compared": 4720, "residual_rad_at_zero": 0.009, "residual_rad_at_zero_mean": 0.0106, "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": 0.648, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.649 }, { "take": "take_21_20260919_192043_recover_twice", "ur_joint_states_lag_s": 0.085, "ur_joint_states_lag_s_mean_objective": 0.09, "residual_rad_at_lag": 0.0004, "residual_rad_at_lag_mean": 0.0005, "n_compared": 7709, "residual_rad_at_zero": 0.0058, "residual_rad_at_zero_mean": 0.0075, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.971, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.792, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.812 }, { "take": "take_21_20260919_195024_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": 4585, "residual_rad_at_zero": 0.0043, "residual_rad_at_zero_mean": 0.0068, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.973, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.905, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.918 }, { "take": "take_22_20260919_192141", "ur_joint_states_lag_s": 0.085, "ur_joint_states_lag_s_mean_objective": 0.09, "residual_rad_at_lag": 0.0004, "residual_rad_at_lag_mean": 0.0005, "n_compared": 4193, "residual_rad_at_zero": 0.0068, "residual_rad_at_zero_mean": 0.0075, "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": 0.719, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.737 }, { "take": "take_22_20260919_195146", "ur_joint_states_lag_s": 0.085, "ur_joint_states_lag_s_mean_objective": 0.09, "residual_rad_at_lag": 0.0005, "residual_rad_at_lag_mean": 0.0006, "n_compared": 3910, "residual_rad_at_zero": 0.008, "residual_rad_at_zero_mean": 0.0089, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.951, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.735, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.759 }, { "take": "take_23_20260919_192226", "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": 5139, "residual_rad_at_zero": 0.009, "residual_rad_at_zero_mean": 0.0097, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.97, "xcorr_command_to_tcp_pose_s": 0.065, "xcorr_command_to_tcp_pose_r": 0.701, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.718 }, { "take": "take_23_20260919_195219", "ur_joint_states_lag_s": 0.09, "ur_joint_states_lag_s_mean_objective": 0.09, "residual_rad_at_lag": 0.0004, "residual_rad_at_lag_mean": 0.0004, "n_compared": 4531, "residual_rad_at_zero": 0.0061, "residual_rad_at_zero_mean": 0.0069, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.951, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.853, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.887 }, { "take": "take_24_20260919_192301", "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": 7646, "residual_rad_at_zero": 0.0075, "residual_rad_at_zero_mean": 0.0084, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.953, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.782, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.809 }, { "take": "take_24_20260919_195250", "ur_joint_states_lag_s": 0.09, "ur_joint_states_lag_s_mean_objective": 0.09, "residual_rad_at_lag": 0.0004, "residual_rad_at_lag_mean": 0.0005, "n_compared": 3635, "residual_rad_at_zero": 0.005, "residual_rad_at_zero_mean": 0.0068, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.97, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.92, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.948 }, { "take": "take_25_20260919_192349", "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": 3820, "residual_rad_at_zero": 0.0066, "residual_rad_at_zero_mean": 0.0078, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.966, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.78, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.8 }, { "take": "take_25_20260919_195320", "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": 3500, "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": 0.973, "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": 0.874 }, { "take": "take_26_20260919_192420", "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": 4676, "residual_rad_at_zero": 0.0068, "residual_rad_at_zero_mean": 0.0076, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.953, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.786, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.816 }, { "take": "take_26_20260919_195348", "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": 0.0004, "n_compared": 4329, "residual_rad_at_zero": 0.0063, "residual_rad_at_zero_mean": 0.0076, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.977, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.734, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.746 }, { "take": "take_27_20260919_192453_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": 5586, "residual_rad_at_zero": 0.0054, "residual_rad_at_zero_mean": 0.0067, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.97, "xcorr_command_to_tcp_pose_s": 0.1, "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": 0.913 }, { "take": "take_27_20260919_195422_recover", "ur_joint_states_lag_s": 0.085, "ur_joint_states_lag_s_mean_objective": 0.09, "residual_rad_at_lag": 0.0004, "residual_rad_at_lag_mean": 0.0005, "n_compared": 5083, "residual_rad_at_zero": 0.0067, "residual_rad_at_zero_mean": 0.008, "xcorr_command_to_ur_joint_states_s": 0.095, "xcorr_command_to_ur_joint_states_r": 0.964, "xcorr_command_to_tcp_pose_s": 0.1, "xcorr_command_to_tcp_pose_r": 0.722, "xcorr_tcp_pose_to_ur_joint_states_s": 0.0, "xcorr_tcp_pose_to_ur_joint_states_r": 0.748 }, { "take": "take_28_20260919_192538", "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": 4049, "residual_rad_at_zero": 0.0051, "residual_rad_at_zero_mean": 0.0059, "xcorr_command_to_ur_joint_states_s": 0.1, "xcorr_command_to_ur_joint_states_r": 0.965, "xcorr_command_to_tcp_pose_s": 0.13, "xcorr_command_to_tcp_pose_r": 0.747, "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, 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